Abstract
AbstractThis paper describes a control method for a tripedal robot which walks with a shuffle. The robot consists of three electromagnets and three piezoelectric elements. The electromagnet supports the robot as a leg. Two of the three electromagnets adhere to a magnetic floor and the other electromagnet is moved by the deformation of the piezos. The relation between the control waveforms and the robot motion is described theoretically. The theoretical displacement of the robot is calculated. The piezo deformations which move the robot to the destination are obtained. The control waveform is determined by the piezo deformations. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(4): 33–41, 2011; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.21192
Published Version
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