Dynamic Locomotion of Quadrupeds Tekken3&4 Using Simple Navigation

摘要

We developed self-contained quadruped robots Tekken3 and Tekken4, which walk dynamically and stably for a long time changing direction through simple navigation. Using new equipment with a laser range finder for the navigation, Tekken3&4 walked naturally along a wall using simple control, walked longer than earlier quadrupeds Tekken1&2. Tekken4 conducted 33 walking demonstrations during 11 days at the 2005 Aichi Exposition in Japan (view at [1]). We discuss Tekken3&4 mechanical design concepts and simple navigation control for long-term walking along a wall at the exhibition.