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The dinosaur-like biped robot TITRUS-III

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Published on Mar 19, 2010

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.

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