The Quadruped Robot "Tekken1"
(Tekken2: self-contained for outdoor environment)

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Tekken1 for Dynamic Walking and Running (2000.10-)

3 joints around pitch axis and 1 joint around yaw axis for each leg (DRAFT 1.3M). A photo encoder are mounted on each joint. DC servo motors, 23 [W] and 6[W] are mounted on 2 pitch joints and 1 yaw joint, respectively. Gear ratio of pitch hip joint, pitch knee joint and yaw hip joint is 15.6, 18.8 and 80, respectively. Rate-gyro sensors for 3 axes and 2 inclinometers for pitch and roll axes are mounted on the body. 1 axis contact sensor is attached on each leg.

Movie (2000 Oct. - Present)

Running using CPG and reflexes

• running in a bound gait without springs [Mar.2002] (MPEG 0.7M with sound)

  Dynamic walking using CPG+responses, reflexes and vision

• walking over a step of 5cm in height using vision$B!!(B(MPEG 2.9M)
  (the distance to the step and the height of the step was measured by a stereo camera while walking, and the flexor reflexes were activated one by one on each leg)

  Dynamic walking using CPG+responses and reflexes

• walking down a step of 7cm in height [Jan. 2004] :
  fail without re-stepping response (MPEG 0.9M) and success with re-stepping response (MPEG 1.4M)
  , where re-stepping response means extending the swing phase of a CPG against loss of ground contact.
• walking on pebbles [Jun.2003] (MPEG 1.8M with sound) slow motion(MPEG 4.5M with sound)
• demonstration at Robot Tech. Plaza on Sep.25-27 2002 at Tokyo BigSite (AVI 3.7M with sound)
• walking with rotation of 1 [m] radius [Jun.2002] (MPEG 2.3M with sound)
• walking over an obstacle 4cm in height and slopes [Jun.2002] (MPEG 2M with sound) (MPEG 1.9M with sound)
• walking over obstacles 2cm in height and slopes [Mar.2002] (MPEG 1.5M with sound) (MPEG 1.7M with sound)
• walking over slopes of side direction [Sep.2001] (MPEG 1.5M)
• The rolling motion feedback to CPGs is very effective. CPGs lost the entrainment with leg motion without it (MPEG 2.4M) and kept the entrainment with leg motion with it (MPEG 2.4M).
• over an obstacle 2cm in height in a walk gait [Sep.2001] (MPEG 1.1M)
  We can see the effectiveness of passive ankle joints in slow motion.(MPEG 1.4M)
• results in recent months (Jun. 2001) including walking up and down a slope, and including changing direction while walking (MPEG 18M)
• up a slope of 10 degrees [Jun.2001] (MPEG 1.2M)
• over two obstacles 1.5cm in height while stumbling on them [Jun.2001] (MPEG 1.1M) (MPEG 0.9M)
• over an obstacle 1.5cm in height in a walk gait with both-sides legs on the obstacle [May.2001] (MPEG 1.1M)
• over an obstacle 1.5cm in height in a walk gait with right-side legs on the obstacle [May.2001] (MPEG 1.1M)
• gait transition from walk to trot in changing speed [Sep.2001] (MPEG 1.5M)
• changing its direction in a trot gait [Jun.2001] (MPEG 1.8M)
• on flat terrain in a t-walk gait. (MPEG 1.0M: with sound)
• walking slowly (0.3m/s) in a walk gait (MPEG 1.4M)
• walking in medium speed (0.5m/s) in a trot gait (MPEG 1.2M)
• on flat terrain fast (0.6m/s) in a walk gait. (MPEG 1.2M: with sound)
• on flat terrain very fast (1.0m/s) in a trot gait. (MPEG 1.8M) (MPEG 1.0M: with sound)
• on flat terrain in a trot gait with spring at knee joint. (MPEG 1.3M)

Robot Specifications

• body length 230mm
• full length 400mm in the typical standing posture
• body height 210mm in the typical standing posture
• body width 120mm
• weight 3.1kg
• controlled by RT-Linux on PC

Publications