Triped Walking Robot “Martian” for Analysis of Autonomous Gait Generation

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)
https://spectrum.ieee.org/automaton/robotics/robotics-hardware/martian-inspired-tripod-walking-robot-generates-its-own-gaits

My works:
http://www-eom.mech.eng.osaka-u.ac.jp/web/index.php/yoichi/

Видео Triped Walking Robot “Martian” for Analysis of Autonomous Gait Generation канала Yoichi Masuda