TY - CHAP

T1 - The parallel two-legged walking robot centaurob

AU - Du, Shucen

AU - Schlattmann, Josef

AU - Schulz, Stefan

AU - Seibel, Arthur

N1 - Publisher Copyright: © 2016 by Nova Science Publishers, Inc. All rights reserved.

PY - 2016/1/1

Y1 - 2016/1/1

N2 - In this chapter, we review the new prototype of the two-legged, parallel kinematic walking robot CENTAUROB, developed at Hamburg University of Technology. The main features of this robot are its modular, symmetric structure, the construction of the legs as Stewart platforms (hexapods), and the special C-shaped feet that allow a statically stable movement at any time. The symmetric structure of the robot leads to a center of gravity exactly in the middle of the hip and prevents from a preferred moving direction or an asymmetric load of the legs. As a highly flexible walking device, the CENTAUROB is able to walk in unpaved environment, avoid and overcome obstacles, and even handle straight and circular stairs.

AB - In this chapter, we review the new prototype of the two-legged, parallel kinematic walking robot CENTAUROB, developed at Hamburg University of Technology. The main features of this robot are its modular, symmetric structure, the construction of the legs as Stewart platforms (hexapods), and the special C-shaped feet that allow a statically stable movement at any time. The symmetric structure of the robot leads to a center of gravity exactly in the middle of the hip and prevents from a preferred moving direction or an asymmetric load of the legs. As a highly flexible walking device, the CENTAUROB is able to walk in unpaved environment, avoid and overcome obstacles, and even handle straight and circular stairs.

KW - Biped walking

KW - Control concepts

KW - Parallel robots

KW - Sensor architecture

KW - Service robots

KW - Statically stablewalking

KW - Walking scenarios

KW - Engineering

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UR - https://ebin.pub/parallel-manipulators-design-applications-and-dynamic-analysis-163485926x-9781634859264.html

UR - https://www.mendeley.com/catalogue/9a2defd5-d90f-30fe-a117-9cb9b6d0b928/

M3 - Chapter

AN - SCOPUS:85031015329

SN - 978-1-63485-926-4

SP - 101

EP - 142

BT - Parallel Manipulators

A2 - Norton, Cecilia

PB - Nova Science Publishers, Inc.

ER -