The dinosaur-like biped robot TITRUS-III

The dinosaur-like biped robot, TITRUS is based on the concept to realize a practical application. The features are 1) realizing high dynamic stability by using a neck and a tail when it walks, 2) standing with the tail to compose a stable tripod so as to work stably and 3) enabling various work by applying the head as a manipulator. In this video, a demonstration of a miniature TITRUS implementation for walking experiment, called TITRUS-III, will be given.

TITRUS-III has totally 8-DOF(Degree Of Freedom). Each limb including two legs and a head and a tail has 2-DOF. Legs can make planar motion, and the foot angle is kept constant by an additional parallelogram mechanism. The neck and tail can swing around yaw and pitch axes. Unlike usual biped robots, the legs of TITRUS-III don't have enough DOF to move its COG(Center Of Gravity) laterally, which is needed to walk statically. Instead of the lacking leg DOFs, the neck and tail ones can substitute them because of certain amount of mass distributed to the limbs. On dynamic walk, the swinging pattern of the neck and tail is changed as inertial force comes to be more dominant factor than the position of COG in its stabilization. Optionally, by using limbs, TITRUS-III can perform dynamic turning motion successfully.

Category:

Science & Technology

Tags:

• TITRUS
• ICRA2003
• final

[davidthefat]

Isn't it a better idea to shift the center of gravity internally? Like have a weight that shifts left to right, not having the neck and tail move like that, it looks awkward

[LeapFrog27]

The basic idea of this robot is a sort of antithesis to humanoid robot. This is another robot that has two legs + two arms.

I think adding the the actuators to shift the mass internally is not good because they make the robot heavier and the robot already has actuators that can be used for swinging the mass.

Thank you.

[LeapFrog27]

1)He will have a problem with turning around？

As you can see, it could turn with dynamic effect of the mass, but it is not smooth, so it is better to add one more DOF to the leg.

2) Because it is to receive or pick up tip from audiences :-). It is a demonstration of new type of working-mobile platform. 1st and 2nd model were bigger and had manipulator for the neck and tail, but it would become too large to make demonstration in the lab.

Thank you.

[veenix101]

Nice but i have an idee what if ya put on the robot a dino costume so it looks like a real dino and send me the video if you did that ok??

[legotechnic27]

Nice

[ogichiseo]

sorry but in the begining of this- are you elmer fud?

[DJmilo5]

it makes me feel calm to know that our scientists, engineers are sitting down building robot dinosaurs when in maybe 100 years, fossil fuels will be history and we will have no other energy source ¬¬ but hey cant be all bad, 1 step closer to robots in the future eh?

[reinbb1]

Nice research

[YOUGOTLOLLED]

gorgeous work.

[iosubb]

nice idea about changing center of gravity when robot walks

1)He will have a problem with turning around. No?

2)Why does he need the open/close mouth functionality at the moment? =)