We developed a tripedal walking robot named “Martian petit” with a focus on the geometric symmetry of the body structure. The proposed robot possesses a compact, light-weight, and compliant leg modules.
These modules are controlled by a distributed control law that consists of decoupled oscillators with only local force feedback.
For more detail, see the journal paper:
Yoichi Masuda and Masato Ishikawa, "Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation", Journal of Robotics and Mechatronics Vol.29 No.3 (2017)
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