The efficacy of the neck and tail of miniature dinosaur-like robot TITRUS-III

In this paper the fundamental concepts of the dinosaur-like robot called TITRUS and the mechanism design of the miniature prototype robot TITRUS-III are explained. TITRUS is based on the concept to realize a practical mobile working platform. ne explanation addresses its availability with two physic...

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Bibliographic Details
Main Authors: Takita, K., Katayama, T., Hirose, S.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Artificial intelligence
Computer science
control theory
systems
Control theory. Systems
Dinosaurs
Exact sciences and technology
Humanoid robots
Leg
Legged locomotion
Manipulator dynamics
Mobile robots
Neck
Orbital robotics
Pattern recognition. Digital image processing. Computational geometry
Rails
Robotics
Tail
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Summary:In this paper the fundamental concepts of the dinosaur-like robot called TITRUS and the mechanism design of the miniature prototype robot TITRUS-III are explained. TITRUS is based on the concept to realize a practical mobile working platform. ne explanation addresses its availability with two physical models: a particle system and a rigid body system The features of TITRUS are (1) realizing high dynamic stability by using a neck and a tail as an active dumper when the robot walks, (2) standing with the tail to compose a stable supporting triangle so that the robot can work stably and (3) enabling it to do various tasks by applying a manipulator to the neck. Finally, the fundamental walking experiments to examine usability of the neck and tail on TITRUS-III are reported.
DOI:10.1109/IRDS.2002.1041661