The basic design of the quadruped robot WARP1
2000 (English)In: International Conference on Climbing and Walking RobotsArticle in journal (Refereed) Published
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.
Place, publisher, year, edition, pages
IdentifiersURN: urn:nbn:se:kth:diva-9028OAI: oai:DiVA.org:kth-9028DiVA: diva2:14567
QC 201008312006-01-262006-01-262010-08-31Bibliographically approved