The dinosaur-like biped robot TITRUS-III

The dinosaur-like biped robot, TITRUS is based on the concept to realize a practical application. The features are 1) realizing high dynamic stability by using a neck and a tail when it walks, 2) standing with the tail to compose a stable tripod so as to work stably and 3) enabling various work by applying the head as a manipulator. In this video, a demonstration of a miniature TITRUS implementation for walking experiment, called TITRUS-III, will be given.
TITRUS-III has totally 8-DOF(Degree Of Freedom). Each limb including two legs and a head and a tail has 2-DOF. Legs can make planar motion, and the foot angle is kept constant by an additional parallelogram mechanism. The neck and tail can swing around yaw and pitch axes. Unlike usual biped robots, the legs of TITRUS-III don't have enough DOF to move its COG(Center Of Gravity) laterally, which is needed to walk statically. Instead of the lacking leg DOFs, the neck and tail ones can substitute them because of certain amount of mass distributed to the limbs. On dynamic walk, the swinging pattern of the neck and tail is changed as inertial force comes to be more dominant factor than the position of COG in its stabilization. Optionally, by using limbs, TITRUS-III can perform dynamic turning motion successfully.

[@HarperWolf]

12 years later this is still cool asf

[@luisrvalle8958]

Hope TH-cam recommends this to everyone

[@LeapFrog27]

1)He will have a problem with turning around？
As you can see, it could turn with dynamic effect of the mass, but it is not smooth, so it is better to add one more DOF to the leg.
2) Because it is to receive or pick up tip from audiences :-). It is a demonstration of new type of working-mobile platform. 1st and 2nd model were bigger and had manipulator for the neck and tail, but it would become too large to make demonstration in the lab.
Thank you.

[@jappiemoto]

Those legs looks so natural damn you did a good job

[@ulforcemegamon3094]

Is a pretty neat robot considering how old it is and the technology it has , a dino biped with more technology would be Nice to see

[@3dprintwiz378]

simply amazing

[@LeapFrog27]

The basic idea of this robot is a sort of antithesis to humanoid robot. This is another robot that has two legs + two arms.
I think adding the the actuators to shift the mass internally is not good because they make the robot heavier and the robot already has actuators that can be used for swinging the mass.
Thank you.

[@The-creator-of-good-videos-15]

@LeapFrog27 It should have arms and fingers… maybe feet that are a bit larger or something, but cool robotic dinosaur.

[@DoItYourself-DIY]

good video

[@vozdefuegobomber9619]

beautiful mechanism. I'm inspired to do mine is just what I was looking for. Thank you. for the video

[@tr4480]

It's cute and impressive

[@nTu4Ka]

nice idea about changing center of gravity when robot walks
1)He will have a problem with turning around. No?
2)Why does he need the open/close mouth functionality at the moment? =)

[@Dracosaurus7]

magnifico diseño, simple y funcional. like

[@johnkoester7795]

I love it already

[@lurkingcorsa10]

hmm....fantastic

[@thomaslapsley7867]

Can this be run with Arduino code? I can definitely make this design easily with my 3D printer but, I'm worried about the Arduino code to make it walk with a few sensors to avoid objects.

[@estebanpa7923]

Wau great job

[@reinbb1]

Nice research

[@DJmilo5]

it makes me feel calm to know that our scientists, engineers are sitting down building robot dinosaurs when in maybe 100 years, fossil fuels will be history and we will have no other energy source ¬¬ but hey cant be all bad, 1 step closer to robots in the future eh?

[@hassanshahzad3004]

I think they used the dinosaur to rather highlight the mechanisms capabilities. For example the neck and tail mechanism is truly astounding as it creates a robotics spine that can move in x and y and z coordinates using only servos. This could be implemented in many different robotics needing a flexible spine for increased movement. And the use of moving the head and tail towards the foot while walking changes the robots center of mass thus making it more stable which is a huge issue when it comes to bipedal robots. But yeah, they could have made the robot a bit more professional looking haha

[@davidthefat]

Isn't it a better idea to shift the center of gravity internally? Like have a weight that shifts left to right, not having the neck and tail move like that, it looks awkward

[@hassanshahzad3004]

Taht would be pretty difficult to achieve seeming as internally your limited to the amount of space you have and thus making it harder to effectively alter the robots center of gravity

[@M4rt1nX]

Hi! Do you sell the building instructions? Pm me please

[@sparkrd100]

A Zoid!!!

[@aloismaniero1468]

hello. i'm a student of a technical istitute of Venice and i would try to built your "titrus-3"; could you sand me some technical infortmation about it ( dimension of the link and control strategy)?

[@AliHussain-qr7nw]

Hey did you get the information cause i'm trying to do this for my senior capstone. please let me know.

[@sabrinaguzman6201]

@@AliHussain-qr7nw that was 4 years ago-

[@Wol333]

Could I please get measurements and angles for this mechanism? I wish to replicate part of it for a robot I'm building.

[@warunparker4061]

Tj Wolf did u get anything

[@เยาวภานะมนตรี]

แบบนี้ มีที่จ้างไหมค่ะ

[@legotechnic27]

Nice

[@eletrid179]

legal

[@logo3di_nho909]

👍

[@veenix101]

Nice but i have an idee what if ya put on the robot a dino costume so it looks like a real dino and send me the video if you did that ok??

[@skyhacker6]

TWERK TWERK TWERK DAT ASS !! ^^ sorry I'm leaving ! ^^

[@ogichiseo]

sorry but in the begining of this- are you elmer fud?