TITAN VIII

General description of the walking machine project

Name of the walking machine/project:TITAN VIII
Begin and end of the Project:
Project costs:
Building effort [person years]:
Source of financial support:

Research group

Tokyo Institute of Technology

Staff of the project:

Kan Yoneda

Information via www: http://mozu.mes.titech.ac.jp/research/walk/walk.html

Contact address: Kan Yoneda, TOKYO SEIKI Co, LTD
Tokyo, Japan
Tel: 03-3998-4421, Fax: 03-3970-9441, Email: yoneda@mes.titech.ac.jp

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 0,6m Max. speed Number of legs 4 Energy supply DC-Motor Driver, Titech Robot Driver
Height 0.25m Weight 19kg Act. degrees of freedom 12 Power supply DC Motor
Width 0.4m Load 5-7kg Pas. degrees of freedom Power consumption

References

TARRY

 

General description of the walking machine project

Name of the walking machine/project: TARRY
Begin and end of the Project: Jan. 1992 - present
Project costs:7500 DM
Building effort [person years]: 3
Source of financial support: Internal Project, financed by the University of Duisburg

Research group

Gerhard-Mercator-Universit"at Duisburg, Institute of mechanics

Staff of the project:

Prof. Dr.-Ing. M. Frik (director)
Dipl.-Ing. O. Amendt
Dipl.-Ing. A. Buschmann
M.Sc. M. Dutra
Dipl.-Ing. T. Kluge
Dipl.-Ing. K.Tlili

Information via www:

Contact address:

Prof. Dr.-Ing. M. Frik, Gerhard-Mercator-Universit"at Duisburg, Institute of mechanics,
Mechanical Engineering Department, Lothardtasse 1, 47048 Duisburg, Germany
Tel: ++49 203 379 33 44, Fax: ++49 203 379 24 94, Email: frik@mechanik.uni-duisburg.de

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 0,4m Max. speed 0,15m/s Number of legs 6 Energy supply servos
Height 0.15m Weight 2.2kg Act. degrees of freedom 18 Power supply -
Width 0.3m Load 0.3kg Pas. degrees of freedom - Power consumption 30Watt

References

[Amendt and Frik, 1994], [Frik and Amendt, 1995a], [Frik and Amendt, 1995b]

Thing

General description of the walking machine project

Name of the walking machine/project: Thing
Begin and end of the Project: June, 1994 - pres
Project costs:USD 1030
Building effort [person years]: 2
Source of financial support:NSF; USD 1000 honors fellowship UMass Honors Program

Research group

Laboratory for Perceptual Robotics

Staff of the project:

Willard MacDonald (student)
Manfred Huber (student)
Roderic Grupen (advisor)

Information via www: http://piglet.cs.umass.edu:4321/lpr.html

Contact address:

Roderic Grupen, University of Massachusetts, Amherst
Computer Science Dept. Amherst, MA 01002, USA
Tel: ++1 413 545 3280, Fax: ++1 413 545 ?, Email: grupen@cs.umass.edu

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length Max. speed Number of legs 4 Energy supply DC-servos
Hight 0.25m Weight 1.6kg Act. degrees of freedom 12 Power supply 5V DC
Width Load Pas. degrees of freedom 0 Power consumption

References

see http://piglet.cs.umass.edu:4321/publications.html

Trojan Horse

General description of the walking machine project

Name of the walking machine/project: Trojan Horse
Begin and end of the Project:
Project costs:
Building effort [person years]:
Source of financial support:

Research group

EC-project, different partners from EC countries

Staff of the project:

Researchers from:
University of Turku, Centre of Continuing Education, Finland
University of Turku, Laboratory of Electronics and Computer Science, Finland
Helsinki University of Technology, The Automation Technology Laboratory, Finland
Helsinki University of Technology, Faculty of Mechanical Engineering, Finland
Helsinki University of Technology, Laboratory of Automotive Engineering, Finland
Tampere University of Technology, Laboratory of Material Technology, Finland
Tampere University of Technology, Institute of Hydraulics and Automation, Finland
National Technical University of Athens, Mechanical Engineering Department, Greece
Politecnico di Milano, Department of Mechanics, Italy

Information via www: http://www.tkk.utu.fi/english/trojan.html

Contact address:

Tero Elomaa, University of Turku
Lemminkaisenkatu 14-18 B, Turku, Finland
Tel: ++358 2 3336435, Fax ++358 2 3336331, Email: tero.elomaa@utu.fi

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length Max. speed Number of legs Energy supply
Hight Weight Act. degrees of freedom Power supply
Width Load Pas. degrees of freedom Power consumption

References

TUM

General description of the walking machine project

Name of the walking machine/project: TUM walking machine (Technical University Munich)
Begin and end of the Project: Jan. 1991 - Dec. 1994 Project costs: 50000 DM
Building effort [person years]: 8
Source of financial support: BMFT financement (German government),
DFG financement (DFG = German Research Community)

Research group

Lehrstuhl B f"ur Mechanik, TU M"unchen

Staff of the project:

Prof. Dr.-Ing. F. Pfeiffer (director)
Dr.-Ing. H.-J. Weidemann - control, dynamics
Dr.-Ing. J. Eltze - mechanical construction
Dipl.-Ing. J. Steuer - behaviour control

Information via www:

Contact address:

Dipl.-Ing. J. Steuer, Lehrstuhl f"ur Mechanik,
TU M"unchen, Arcisstr. 21, 80333 M"unchen, Germany
Tel: ++49 89 2105-3208, Fax: ++49 89 2105-3209, Email: steuer@lbm.mw.tu-muenchen.de

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 0,8m Max. speed 0.3m/s Number of legs 6 Energy supply DC
Height 0.4m Weight 23kg Act. degrees of freedom 18 Power supply -
Width 1,0m Load 5kg Pas. degrees of freedom - Power consumption 500Watt

References

[Eltze, 1994], [Pfeiffer et al., 1994], [Weidemann, 1993], [Weidemann et al., 1993a],[Weidemann et al., 1994]