The Quadruped Robot "Collie-1&2"

These robot had been constructed and used for research under supervision of Prof.Miura and Prof.Shimoyama in Univ. Tokyo.

"Collie-2(1986-1988)" Top View

: 3 joints around a pitch axis and 2 joints aroud a roll axis for each leg. A potentiometer is mounted on each joint. DC servo motors are mounted on 3 joints around a pitch axis and 1 joint aroud a roll axis.

Front View and Side View

Photos of Walking

Movie (Walking dynamically in trot and pace gaits on flat terrain)

Robot Specifications

length 420mm
height 380mm
width 240mm
weight 7kg
controlled by MC68020 using Real Time OS (RMS68K)

Collie-1 (1984-1986)

Research History and Abstract