Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2012, Vol. 35 ›› Issue (4): 99-102.doi: 10.13190/jbupt.201204.99.fanjzh

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Design of Three-Limb Robot with Integrated of Arm-Leg Mechanism

FAN Ji-zhuang1,2,LI Li-yi1,ZHAO Jie2   

  1. 1.School of Electrical Engineering and Automation, Harbin Institute of Technology2.School of Mechanical and Electrical Engineering, Harbin Institute of Technology
  • Received:2011-10-12 Revised:2011-11-18 Online:2012-08-28 Published:2012-07-08

Abstract:

A three-limb robot with integrated of armleg mechanism is developed based on functional bionics. The robot can accomplish locomotion and operation tasks in time sharing multiplex mode with aid of permanent magnet absorption mechanisms and operation mechanisms mounted on each limb, and has a variety of agile walking gaits and operation patterns as well. Experiments of fundamental walking gaits and objects operation shows practicality. 

Key words: limbs robots, integrated of armleg, gait planning, control system

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