The Quadruped Robot "Patrush-I"

Patrush-I for Dynamic Walking (1999.9-2000.3)

3 joints around a pitch axis for each leg. A photo encoder are mounted on each joint. DC servo motors (23[W]) are mounted on 2 upper joints. 6 axses force/torque sensor is attached on each leg.
Movie (2000 Jan.) (Beautiful dynamic walking on terrain of medium degree of irregularity by using CPG and reflexes via CPG based on somatic sensation, vestibular sensation.)

walking up and down a slope and over a step 3cm in height (MPEG 518K) or (with sound:MPEG 1.4M)
walking over terrain undulation with long pitch (MPEG 296K) or (with sound:MPEG 1.3M)
walking over terrain undulation with short pitch (MPEG 467K) or (with sound:MPEG 1.3M)

Movie (1999 Jul-Sep.) (Walking up a step and over an obstacle based on vision.)

walking up a step 3cm in height using vision (MPEG 483K) or (with sound:MPEG 1.3M)
walking over an obstacle 3cm in height using vision (with sound:MPEG 1.7M) tracking marks(MPEG 0.8M)

Patrush-I for Dynamic Walking (1994-1999.8)

3 joints around a pitch axis for each leg. A photo encoder are mounted on each joint. DC servo motors (23[W]) are mounted on 2 upper joints. Two micro switches were attached on each foot.
Movie (1998 - 1999 Mar.) (Not so smooth walking on terrain of medium degree of irregularity by using CPG and reflexes independent of CPG.)

walking up and down a long slope of 12 degrees (MPEG 721K)
walking over a floor with a bump and up a short slope of 12 degrees (with sound:MPEG 1.8M)

Movie (1997 Feb.) (Walking dynamically using neural oscillator networks and reflex mechanism)

walking on flat terrain using stretch reflex (with sound:MPEG 1M)
walking with a swinging leg obstructed using flexor reflex (with sound:MPEG 1M)
walking up a step by increasing external input to neural oscillators (with sound:MPEG 800K)

"Patrush-I" for Running

3 joints around a pitch axis for each leg. A photo encoder is mounted on each joint. DC servo motors (23[W]) are mounted on hip and knee joints. A spring is mounted on an ankle joint.
Movie (1998-Feb.) (Running: Gait transition from standing to bounce via hopping)

(with sound:MPEG 1.2M)

Robot Specifications

length 360mm
height 330mm
width 240mm
weight 4.6kg
controlled by two Transputers (1994-1999) or RT-Linx on PC(1999-2000)

Research History and Abstract (movies with explanations)

Publications