The Quadruped Robot "Patrush-II"

Patrush-II(2000.10-)

3 joints around a pitch axis for each leg. A photo encoder are mounted on each joint. DC servo motors (18[W]) are mounted on 2 upper joints. 1 axis force sensor will be attached on each leg.

Experiment

• leg length = 0.2[m](MPEG 0.9M)
  
• leg length = 0.2[m](MPEG 1.9M)
• leg length = 0.3[m](MPEG 0.6M)
  

• leg length = 0.2[m](MPEG 0.6M)
• leg length = 0.3[m](MPEG 0.6M)

Robot Specifications

• length ??mm
• height 200-300mm
• width ??mm
• weight ??kg
• controlled by RT-Linux on PC

Publications