The basic design of the quadruped robot WARP1

• This paper presents the basic design of a walking robot platform, in terms of its mechanics,electronics and control. The four-legged robot weighs about 60 kilograms, has three actuatorsin each leg and uses a distributed control system over six CAN busses. Basic strength and speedis demonstrated by experiments where the robot performs walking motions and goes down onits knees and then up again. A brief discussion of experiences from designing and implementingthe platform is included.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Maskinteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Mechanical Engineering (hsv//eng)

Keyword

Engineering mechanics

Teknisk mekanik

Mechanical engineering

Maskinteknik

Publication and Content Type

ref (subject category)

art (subject category)