Development of "MEL HORSE"

Development of Quadruped Robot which has a high mobility performance provides a significant challenge to the robotics engineer. MEL HORSE II is aimed to be such an experimental robot consisting a mechanism for high mobility. Using the front part of MEL HORSE II, a biped robot could be also developed; it is named MEL Deinonychus II. The characteristic of this robot is that it is equipped with oblong fuselage like as cursorial dinosaurs. In this paper, RHC (Receding Horizon Control) is applied into biped ZMP (Zero Moment Point) control.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Hiroki Takeuchi
• Keywords: ICRA 1999, MEL Deinonychus II, MEL HORSE II, Robot, Robotics