Design of new quadruped robot with SMA actuators for dynamic walking

2006 SICE-ICASE International Joint Conference

Volumn , Issue , 2006, Pages 344-348

  Son, Hyung Min ^a   Gu, Jim Bum ^a   Park, Se Hoon ^a   Lee, Yun Jung ^a   Nam, Tae Hyun ^b  

^a Kyungpook National University   (South Korea)

^b Gyeongsang National University   (South Korea)

Author keywords

Dynamic gait; Quadruped robot; Running; SMA; SMA actuator; Walking; Walking robot

Indexed keywords

POWER DENSITY; QUADRUPED ROBOT; RIGID BODY; WALKING ROBOT;

ACTUATORS; MECHANICAL DRIVES; PULSE WIDTH MODULATION; SENSORS; TORQUE;

MOBILE ROBOTS;

EID: 34250738415     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/SICE.2006.315787     Document Type: Conference Paper

References (11)

1. I. Shimoyama, H. Miura, M. Horita, and Y. Hattori, "Analysis of walk for quadruped," International Workshop on Intelligent Robots and System, pp. 1541-1544, Osaka, Japan, 1991.
2. M. H. Raibert , M. Chepponis, and H. B. Brown, "Running on four legs as though they were one," IEEE Journal of Robotics and Automation, Vol. RA-2, No. 2, pp. 70-82, 1986.
3. D. Papadopoulos and M. Beuhler, "Stable running in a quadruped robot with compliant legs," International Conference on Robotics and Automation, pp. 444-449, San Francisco, USA, 2000.
4. G. J. Zeglin, "Uniroo: A one legged dynamic hopping robot," BS thesis, Department of mechanical engineering, MIT, 1991.
5. S. Takao, Z. Gu, T. Ikeda, and T. Mita, "Realization of dynamic walking and running of a cat type quadruped robot using variable constraint control," Society of Instrument and Control Engineering, pp. 3053-3058, Fukui, Japan, 2003.
6. D. Reynaerts and H. V. Brussel, "Design aspects of shape memory actuators," Mechatronics, pp. 635-656, 1998.
7. M. Vasina, F. Sole, and K. Hoder, "Shape memory alloys - unconventional actuators," International Conference on Industrial Technology, pp. 190-193, Maribor, Slovenia, 2003.
8. http://www-civ.eng.cam.ac.uk/dsl/sma/actuator.html
9. D. Grant and V. Hayward, "Variable structure control of shape memory alloy actuators," IEEE International Conference on Robotics and Automation, pp. 80-88, Nagoya, Japan, 1995.
10. Y. J. Lee, H. M. Son, J. B. Gu, and T. H. Nam, "Design and control of a multistep SMA actuator," International Journal of Applied Electromagnetics and Mechanics, Vol. 23, No. 1-2, pp. 119-124, 2006.
11. S. Hirose, K. Ikuta, M. Tsukamoto, K. Sato, and Y. Umetani, "Several consideration on design of SMA actuator," Proceeding international Conference on Martensite Transformation, pp. 1047-1052, 1986.