J-030

A New Method of Crutch Type Walking Robot

Authors: Takayuki Miyake, Tooru Nogai
Affiliation: Department of Systems Engineering, The Shizuoka University

Abstract
In this research, a redundant driving system seen in the animate was imitated. The redundant driving system composed of a standard joint of rigid body, a 3DOF ankle joint and a redundant cable were designed and the effectiveness of the cable control mechanism was confirmed. Moreover, a crutch was given to this mechanism and we studied about the complete dynamic walking in which weight characteristic was used well.

Takayuki Miyake
Department of Systems Engineering
The Shizuoka University
3-5-1, Johoku, Hamamatsu-shi, Shizuoka, 432-8561,Japan
miyake@sys.eng.shizuoka.ac.jp
tooru@sys.eng.shizuoka.ac.jp