MASCHA

General description of the walking machine project

Name of the walking machine/project:$MASCHA$
Begin and end of the Project:$Jan.\; 1971\; -\; Dec.\; 1994$
Project costs:$7000\; DM$
Building effort [person years]:$5$
Source of financial support:$Research\; Project\; funded\; by\; the\; Russia\; Academy\; of\; Science$
and by the Institute IPPI and Institute IMech

Research group

1. Institute of Mechanics Lomonnossow-University (IMech)
2. Institute of Data Transmission (IPPI)

Staff of the project:

Prof.Dr.math.habil. D.E. Okhotsimsky (director)
Prof.Dr.math.habil E.A. Devjanin (director)
Prof.Dr.med.habil V.S. Gurfinkel (director)
Dr.math. A.V. Lensky
Dr.math. L.G. Shtilman

Information via www:

Contact address:

Prof.Dr. E.A. Devjanin, Institute of Mechanics (IMech), Lomonnossow-University
1 Mitchurinsky Prospekt, 147192 Moscow, Russia
Tel: ++7(095) 939 32 74, Fax: ++7(095) 938 22 15

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	0.7m	Max. speed	0,14m/s	Number of legs	6	Energy supply	DC
Height	0,21m	Weight	20kg	Act. degrees of freedom	20	Power supply	-
Width	0.7m	Load	5kg	Pas. degrees of freedom	18	Power consumption	130Watt

References

[Bogutsky et al., 1994, Devjanin et al., 1973, Devjanin et al., 1987, Gorinevsky and Schneider, 1990, Okhotsimski et al., 1978]

MECANT

General description of the walking machine project

Name of the walking machine/project:$MECANT\; (MECanical\; ANT)$
Begin and end of the Project:$Jan.\; 1988\; -\; Oct.\; 1993$
Project costs:$800000\; FIM\; (Finnish\; Mark)$
Building effort [person years]:$15$
Source of financial support:$Academy\; of\; Finland,\; Helsinki\; University,\; Industry,$
Technology Development of Finland, Technical Research Centre

Research group

Helsinki University of Technology, Automation Technology Laboratory

Staff of the project:

Prof. A. Halme (director)
M.Sc. I. Lepp"anen - Mechanics,sensor system, hardware
M.Sc. S. Salmi - Free gait

Information via www: http://www.automation.hut.fi

Contact address:

Prof. Aarne Halme , Helsinki University of technology, Autom ation Technology Laboratory
Otakaari 5A, 02150 ESPOO, Finnland
Tel: 358-0-4513301, Fax: 358-0-4513308, Email: aarne.halme@hut.fi

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	2,1m	Max. speed	0,5m/s	Number of legs	6	Energy supply	hydraulic
Height	1,6m	Weight	1.100kg	Act. degrees of freedom	18	Power supply	2 strokes
Width	2,4m	Load	100kg	Pas. degrees of freedom	0	Power consumption	35KW.

References

[Halme et al., 1993], [Hartikainen et al., 1992c], [Hartikainen et al., 1992b], [Lehtinen, 1994]

Melwalk 3

General description of the walking machine project

Name of the walking machine/project:$Melwalk\; 3$
Begin and end of the Project:$???$
Project costs:$$
Building effort [person years]:$$
Source of financial support:$???$

Research group

Mechanical Engineering Laboratory 1-1
Cybernetics Division
Namiki, Tsukuba Science City, Ibaraki, Japan

Information via www: ???

Contact address:

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Depth	0.5m	Max. speed	???	Number of legs	6	Energy supply	30W,50W electromotors
Height	0.1m	Weight	35kg	Act. degrees of freedom	8	Power supply	???
Width	0.5m	Load	24kg	Pas. degrees of freedom	???	Power consumption	???

References

[Kaneko et al., 1985b, Kaneko et al., 1985a]

MENO II

General description of the walking machine project

Name of the walking machine/project:$MENO\; II$
Begin and end of the Project:$1995-1997$
Project costs:$USD\; 5000$
Building effort [person years]:$1$
Source of financial support:$Jet\; Propulsion\; Labs$

Research group

Robotics Research Lab, USC

Staff of the project:

Prof. George Bekey ( Principal Investigator)
Gaurav Sukhatme - Research Assistant

Information via www: http://www.usc.edu/dept/robotics

Gaurav S. Sukhatme, University of Southern California, Dept. of Computer Science
941 W. 37th Place, Los Angeles , CA 90089-0781, USA
Tel: ++1 213 740-7288/7512, Fax: Email: gaurav@robotics.usc.edu

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	0.5m	Max. speed	untestet	Number of legs	4	Energy supply	DC-servos
Hight	0.3m	Weight	12kg	Act. degrees of freedom	12	Power supply	12V car battery
Width	0.5m	Load		Pas. degrees of freedom	4	Power consumption

References

[Sukhatme and Bekey, 1995a], [Sukhatme and Bekey, 1995b]

see http://www.usc.edu/dept/robotics/personal/gaurav/publications.html

MK-4

General description of the walking machine project

Name of the walking machine/project:$MK-4\; (Maszyna\; Krocsaca\; 4-legged)$
Begin and end of the Project:$Jan.1986\; -\; Dec.1990$
Project costs:$USD\; 1000$
Building effort [person years]:$4$
Source of financial support:$Central\; Program\; for\; Scientific\; Research\; by\; Ministry$
of Higher Education, Science and Technology

Research group

Robotics and Biomechanics Group at Institute of Aeronautics and Applied Mechanics,
Warsaw University of Technology

Staff of the project:

Prof.Dr.Ing. A. Morecki (director)
Prof.Ing. K. Jaworek
Dr.hab. W. Poyonelski
Dr.Ing. T. Zielinska

Information via www:

Contact address:

Dr.Ing. T. Zielinska, Robotics and Biomechanics Group at Institute of Aeronautics and
Applied Mechanics, Warsaw Univ. of Technology, Nowowiejska 24, Warsaw, Poland
Tel: ++48 022 667790, Fax: , Email: teresaz@mail.pw.edu.pl

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	-	Max. speed	0,14m/s	Number of legs	4	Energy supply	prismatic, hydraulic actuators
Height	-	Weight	100kg	Act. degrees of freedom	4	Power supply	hydraulic (80atm)
Width	-	Load	60kg	Pas. degrees of freedom	-	Power consumption	3KWatt

References

[Jaworek et al., 1987], [Zielinska and Zielinski, 1989], [Zielinska, 1991], [Zielinska, 1993], [Zielinska, 1994]