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Relevant bibliographies by topics / Design of walking robot

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Academic literature on the topic 'Design of walking robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 14 February 2022

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Journal articles on the topic "Design of walking robot"

1

Liu, Xue Peng, and Dong Mei Zhao. "Mobile Robot Movement Analysis and Design." Advanced Materials Research 490-495 (March 2012): 2480–83. http://dx.doi.org/10.4028/www.scientific.net/amr.490-495.2480.

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The mobile robot trajectory curve track and circular track arc analyzed. The stability condition of wheeled mobile robots is discussed. A new robots walk system design is presented. And the walking process is analyzed.

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Pa, P. S., and J. B. Jou. "A Toy Robot via Cam Design as a Balance Module of Gravity Shifting." Applied Mechanics and Materials 313-314 (March 2013): 950–53. http://dx.doi.org/10.4028/www.scientific.net/amm.313-314.950.

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This study presents a brand new concept in contrast to that of the conventional mechanical toy robots on the market. Conventional toy robots rely mainly on a large sole area to reduce wobble during walking. In this study walking stability is realized not by large sole areas but by a cam designed to automatically shift the center of gravity during walking. The biped toy robot proposed is driven by a single motor. As soon as the robot takes a forwards step, the center of gravity is changed by the cam module, and under the action of gravity, the trunk moves automatically to shift the center of gravity. Both walking and shifting the center of gravity is done by one motor. It was a goal of this study to develop a new type of walking toy robot by modifying traditional toy design. Experiment and simulation revealed that the rotation speed of the crank influences the walking of the biped toy robot, and the crank length influences both the length and height of the stride. In addition, counterbalance of the robot while walking is affected by the location of the center of gravity of the trunk and the distance between the feet. It became clear that the stability of the walking robot was determined by many factors, and difficulties may arise if any of these factors is changed.

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Mikolajczyk, Tadeusz, Tomasz Fas, Tomasz Malinowski, and Łukasz Romanowski. "New Solution of Walking Robot." Applied Mechanics and Materials 555 (June 2014): 232–38. http://dx.doi.org/10.4028/www.scientific.net/amm.555.232.

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Many of design of walking robots are based on bionics ideas. Some of its are very similar to original biology conception, but there are very complicated. The idea of paper was to elaborate no bionic pattern, own simple idea of walking robot for task walking on flat surface, rotate, and climbing on stairs. In paper was presented the idea of solution walking robot with this ability. In presented design was used 4 DOF. Was presented idea of this solution, kinematics analyse and simulation software.

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Panasiuk, Jarosław, and Małgorzata Soroczyńska. "Design of walking robot model moving on vertical areas." Mechanik 90, no. 7 (July 10, 2017): 637–39. http://dx.doi.org/10.17814/mechanik.2017.7.97.

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The aim of this article is to present a mobile robot project designed to move on surfaces with an angle of inclination to 90 degrees. It will be a robot modeled on gecko. The main functionality of the robot, which is to move over inclined surfaces, will be realized using specially designed paws with adhesive material on the underside. Two walking modes will allow the operator to move robots limbs freely or walk to the desired direction.

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Chen, Yong, Rong Hua Li, and Jin Wei Liu. "Exoskeleton Robot Walking on Slope Terrain." Applied Mechanics and Materials 367 (August 2013): 422–26. http://dx.doi.org/10.4028/www.scientific.net/amm.367.422.

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The walking procedure of the human on slope terrain was captured with a high-speed video camera. The geometrical configurations and motion postures of the human walking on slope terrain were analyzed from the high-speed photographs. Based on the biological observation, a dynamic model was put forward to aid the design of the exoskeleton robot. The hip angle, knee angle, hip moment and knee moment of the exoskeleton robot during walking on slope terrain were shown in figures. The results would provide some theoretical and practical references for the biomimetic design of the exoskeleton robot. This work may provide the basic theory in developing the structural design of the exoskeleton robot to help old people. Besides, it provides an important reference to study the other exoskeleton robots.

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Ura, Daisuke, Yasuhiro Sugimoto, Yuichiro Sueoka, and Koichi Osuka. "Asymptotic Realization of Desired Control Performance by Body Adaptation of Passive Dynamic Walker." Journal of Robotics and Mechatronics 29, no. 3 (June 20, 2017): 480–89. http://dx.doi.org/10.20965/jrm.2017.p0480.

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[abstFig src='/00290003/03.jpg' width='300' text='Schematic of the proposed design method' ] This article proposes a design method of legged walking robot hardware capable of performing passive dynamic walking with its desirable characteristics. Passive dynamic walking has a relatively good energy efficiency, and is said to be similar to the walking style of animals. However, most legged robot hardware capable of passive dynamic walking is designed through trial and error on the basis of experience. One of the major problems of designing through trial and error is the difficulty of verifying walking for the legged robot hardware that has many degree of freedom. It is relatively easy to determine the initial condition for compass-type robot hardware. However, it often takes long time to determine the appropriate initial conditions and slope angles for complicated robots such as legged robots with knees. We proposed and verified a method to design a legged robot with knees that has a desired leg length and leg mass from a compass-type legged robot. In this article, we propose a method to design a passive dynamic walker that has a desired leg angle, step length, leg mass, etc., and verify the resulting design. More specifically, the physical parameters, such as the leg length, leg mass, and joint friction, are defined as “physical parameters” and the parameters acquired as the result of walking, such as the leg angle, step length, and walking cycle, are defined as “variable parameters.” By observing variable parameters while the robot is walking and by changing the physical parameters according to the observed variable parameters, the variable parameters are indirectly changed to desired values.

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Nerakae, Krissana, and Hiroshi Hasegawa. "Bigtoe Sizing Design of Small Biped Robot by Using Gait Generation Method." Applied Mechanics and Materials 541-542 (March 2014): 1079–86. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1079.

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The study of biped robot has long history and continuation. One of important moving processes is walking procedure. The walking posture is an important research field that always adapts and implements in the biped robot. The walking research field is very interesting because the walking posture of humans is flexible and stable. Additionally, the force that affect on the humans foot is also investigated. This research addresses the walking simulation of small biped robots that have tiptoe and bigtoe. The study based on the assumption that the bigtoe size affects on the walking posture and walking distance. The gait generation method, for finding the proper size of bigtoe, is utilized by varying the bigtoe size. There are two requirements of robot design: go straight and stay within setting conditions. The simulation results of all small biped robot models which have the different bigtoe sizes can walk within setting conditions. There is only one model its bigtoe width per foot width ratio equals 0.28 (or 28% of foot width) has the longest walking distance. Moreover, this ratio is equal to the ratio of humans foot.

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Karakurt, Tolga, Akif Durdu, and Nihat Yilmaz. "Design of Six Legged Spider Robot and Evolving Walking Algorithms." International Journal of Machine Learning and Computing 5, no. 2 (April 2015): 96–100. http://dx.doi.org/10.7763/ijmlc.2015.v5.490.

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Chavdarov, Ivan, and Bozhidar Naydenov. "Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles." International Journal of Advanced Robotic Systems 16, no. 6 (November 1, 2019): 172988141989132. http://dx.doi.org/10.1177/1729881419891329.

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The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors. Described are basic geometric and kinematic dependencies related to its movement. It is proposed optimization of basic dimensions of the robot in order to reduce energy losses when moving on flat terrain. Developed and produced is a 3-D printed prototype of the robot. Simulation and experiments for overcoming an obstacle are presented. Trajectories and instantaneous velocities centers of links from the robot are experimentally determined. The phases of walking and the stages of overcoming an obstacle are described. The theoretical and experimental results are compared. The suggested dimensional optimization approaches to reduce energy loss and experimental determination of the instant center of rotation are also applicable to other walking robots.

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Wojtkowiak, Dominik, Krzysztof Talaśka, and Ireneusz Malujda. "Concept of the Hexa-Quad Bimorph Walking Robot and the Design of its Prototype." Acta Mechanica et Automatica 12, no. 1 (March 1, 2018): 60–65. http://dx.doi.org/10.2478/ama-2018-0010.

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AbstractPresent-day walking robots can increasingly successfully execute locomotive as well as manipulative functions, which leads to their expansion into more and more applications. This article presents the design of a hexa-quad bimorph walking robot with the ability to move at a relatively high speed in difficult terrain. It also has manipulation capabilities both at a standstill and in motion. This feature of the robot is made possible by the ability to easily change the configuration from six-legged to four-legged by elevating the front segment of its body. Presented prototype will be used in further research to develop the hexa-quad bimorph walking robot.

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Dissertations / Theses on the topic "Design of walking robot"

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Binnard, Michael B. "Design of a small pneumatic walking robot." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/10422.

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Morse, Christopher John 1974. "Design of a quadruped walking robot for social interaction." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/89305.

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Steele, Alexander Gabriel. "Biomimetic Design and Construction of a Bipedal Walking Robot." PDXScholar, 2018. https://pdxscholar.library.pdx.edu/open_access_etds/4486.

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Human balance and locomotion control is highly complex and not well understood. To understand how the nervous system controls balance and locomotion works, we test how the body responds to controlled perturbations, the results are analyzed, and control models are developed. However, to recreate this system of control there is a need for a robot with human-like kinematics. Unfortunately, such a robotic testbed does not exist despite the numerous applications such a design would have in mobile robotics, healthcare, and prosthetics. This thesis presents a robotic testbed model of human lower legs. By using MRI and CT scans, I designed joints that require lower force for actuation, are more wear resistant, and are less prone to catastrophic failure than a traditional revolute (or pinned) joints. The result of using this process is the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. For the knee joint, the design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint includes a changing center of rotation, a screw-home mechanism, and patella; these are characteristics of the knee that are desirable to copy for bipedal robotics. The design was calculated to have an average sliding to rolling ratio of 0.079, a maximum moment arm of 2.7 inches and a range of motion of 151 degrees. This should reduce joint wear and have kinematics similar to the human knee. I also designed and constructed novel, adjustably-damped hip and ankle joints that use braided pneumatic actuators. These joints provide a wide range of motion and exhibit the same change in stiffness that human joints exhibit as flexion increases, increasing stability, adaptability, and controllability. The theoretical behaviors of the joints make them desirable for use in mobile robotics and should provide a lightweight yet mechanically strong connection that is resistant to unexpected perturbations and catastrophic failure. The joints also bridge the gap between completely soft robotics and completely rigid robotics. These joints will give researchers the ability to test different control schemes and will help to determine how human balance is achieved. They will also lead to robots that are lighter and have lower power requirements while increasing the adaptability of the robot. When applying these design principles to joints used for prosthetics, we reduce the discomfort of the wearer and reduce the effort needed to move. Both of which are serious issues for individuals who need to wear a prosthetic device.

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Rais, A. I. "Design and control of a four-legged walking robot." Thesis, University of Sussex, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.372731.

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Jackowski, Zachary John. "Design, construction, and experiments with a compass gait walking robot." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/67617.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 91-93).
In recent years a number of new computational techniques for the control of nonlinear and underactuated systems have been developed and tested largely in theory and simulation. In order to better understand how these new tools are applied to real systems and to expose areas where the theory is lacking testing on a physical model system is necessary. In this thesis a human scale, free walking, planar bipedal walking robot is designed and several of these new control techniques are tested. These include system identification via simulation error optimization, simulation based LQR-Trees, and transverse stabilization of trajectories. Emphasis is put on the topics of designing highly dynamic robots, practical considerations in implementation of these advanced control strategies, and exploring where these techniques need additional development.
by Zachary J Jackowski.
S.M.

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Kljuno, Elvedin. "Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls." Ohio University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354708727.

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Szabari, Mikuláš. "Konstrukce kráčejícího mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382418.

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The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.

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Malakar, Bijaya Bahr Behnam. "Design of bipedal walking robot and reduction of dynamic impact in joints." Diss., Click here for available full-text of this thesis, 2006. http://library.wichita.edu/digitallibrary/etd/2006/t012.pdf.

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Thesis (M.S.)--Wichita State University, Dept. of Mechanical Engineering.
"May 2006." Title from PDF title page (viewed on October 19, 2006). Thesis adviser: Behnam Bahr. Includes bibliographic references (leaves 73-75).

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Baines, Andrew Griffin. "Knee design for a bipedal walking robot based on a passive-dynamic walker." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32883.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
Includes bibliographical references (leaf 30).
Passive-dynamic walkers are a class of robots that can walk down a ramp stably without actuators or control due to the mechanical dynamics of the robot. Using a passive-dynamic design as the basis for a powered robot helps to simplify the control problem and maximize energy efficiency compared to the traditional joint-angle control strategy. This thesis outlines the design of a knee for the robot known as Toddler, a passive-dynamic based powered walker built at the Massachusetts Institute of Technology. An actuator at the knee allows the robot to bend and straighten the leg, but a clutch mechanism allows the actuator to completely disengage so that the leg can swing freely. The clutch operates by using a motor to rotate a lead screw which engages or disengages a set of spur gears. Control of the knee is accomplished by utilizing the robot's sensors to determine whether or not the knee should be engaged. The engagement signal is then fed through a simple motor control circuit which controls the motor that turns the lead screw. The knee design was successfully implemented on Toddler but more work is required in order to optimize his walking. In order to study the dynamics of walking with knees, we also built a copy of McGeer's original passive walker with knees.
by Andrew Griffin Baines.
S.B.

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Cutler, Steven. "Implementation of a Variable Duty Factor Controller on a Six-Legged Axi-Symmetric Walking Robot." Thesis, University of Waterloo, 2006. http://hdl.handle.net/10012/2887.

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Hexplorer is a six-legged walking robot developed at the University of Waterloo. The robot is controlled by a network of seven digital signal processors, six of which control three motors each, for a total of 18 motors. Brand new custom electronics were designed to house the digital signal processors and associated circuitry. A variable duty factor wave gait, developed by Yoneda et al. was simulated and implemented on the robot. Simulation required an in-depth kinematic analysis that was complicated by the mechanical design of parallel mechanism comprising the legs. These complications were handled in both simulation and implementation. However, due to mechanical issues Hexplorer walked for only one or two steps at a time.

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Books on the topic "Design of walking robot"

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Eldukhri, Eldaw Elzaki. Design and control of a Biped Walking Robot. Salford: University of Salford, 1996.

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Allman, Toney. From bug legs to walking robots. Detroit: KidHaven Press, 2006.

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McMillen, David Ross. Kafka: a hexapod robot. [Toronto, Ont.]: University of Toronto, Institute for Aerospace Studies, 1995.

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Emily, Bopp, ed. Robot applications design manual. New York: Wiley, 1990.

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Yang, Ting-Li, Anxin Liu, Huiping Shen, LuBin Hang, Yufeng Luo, and Qiong Jin. Topology Design of Robot Mechanisms. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-5532-4.

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Robot technology: Theory, design, and applications. Englewood Cliffs, N.J: Prentice-Hall, 1986.

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Ayanoğlu, Hande, and Emília Duarte, eds. Emotional Design in Human-Robot Interaction. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-319-96722-6.

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Robot experiments. Berkeley Heights, NJ: Enslow Publishers, 2011.

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Sobey, Edwin J. C. Robot experiments. Berkeley Heights, NJ: Enslow Publishers, 2011.

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Lunt, Karl. Build your own robot! Natick, MA: A K Peters, 1999.

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Book chapters on the topic "Design of walking robot"

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Virk, Gurvinder S. "CLAWAR Design Tools to Support Modular Robot Design." In Climbing and Walking Robots, 709–16. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_85.

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Inagaki, Katsuhiko, and Hideyuki Mitsuhashi. "A Design of a Walking Robot with Hybrid Actuation System." In Climbing and Walking Robots, 767–74. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_92.

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Clark, Jonathan E., and Mark R. Cutkosky. "Stability Measure Comparison for the Design of a Dynamic Running Robot." In Climbing and Walking Robots, 261–68. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_31.

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Cabas, L., R. Cabas, D. Kaynov, M. Arbulu, P. Staroverov, and C. Balaguer. "Mechanical Design and Dynamic Analysis of the Humanoid Robot RH-0." In Climbing and Walking Robots, 441–48. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_53.

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Reyes, C., and F. Gonzalez. "Mechanical Design Optimization of a Walking Robot Leg Using Genetic Algorithm." In Climbing and Walking Robots, 275–84. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_25.

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Ceccarelli, Marco, Daniele Cafolla, Matteo Russo, and Giuseppe Carbone. "Design Issues for a Walking-Flying Robot." In Lecture Notes in Mechanical Engineering, 267–77. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-4477-4_19.

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Al-Kharusi, Salim, and David Howard. "The Design and Simulated Performance of an Energy Efficient Hydraulic Legged Robot." In Climbing and Walking Robots, 495–501. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_48.

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Virk, G. S. "CLAWAR Modularity — Design Tools." In Climbing and Walking Robots, 1139–45. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_112.

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Bordron, Olivier, Clément Huneau, Éric Le Carpentier, and Yannick Aoustin. "Impact of a Knee Orthosis over Walking." In ROMANSY 22 – Robot Design, Dynamics and Control, 466–73. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78963-7_58.

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Lavoie, Marc-André, Alexis Lussier Desbiens, Marc-André Roux, Philippe Fauteux, and Éric Lespérance. "Design of a Cockroach-like Running Robot for the 2004 SAE Walking Machine Challenge." In Climbing and Walking Robots, 311–18. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_37.

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Conference papers on the topic "Design of walking robot"

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DeMario, Anthony, and Jianguo Zhao. "A Miniature, 3D-Printed, Walking Robot With Soft Joints." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-68182.

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Miniature robots have many applications ranging from military surveillance to search and rescue in disaster areas. Nevertheless, the fabrication of such robots has traditionally been labor-intensive and time-consuming. This paper proposes to directly leverage multi-material 3D printing (MM3P) to fabricate centimeter-scale robots by utilizing soft materials to create soft joints in replacement of revolute joints. We demonstrate the capability of MM3P by creating a miniature, four-legged walking robot. Moreover, we establish a numerical method based on the Psuedorigid-Body (PRB) 1R model to predict the motion of the leg mechanism with multiple soft joints. Experimental results verify the proposed numerical method. Meanwhile, a functional walking robot actuated by a single DC motor is demonstrated with a locomotion speed of one body length/sec. The proposed design, fabrication, and analysis for the walking robot can be readily applied to other robots that have mechanisms with soft joints.

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Izadi, M., M. J. Mahjoob, and M. Soheilypour. "Walking Gait of a Single-Tetrahedral Robot: Design, Modeling and Implementation." In ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2010. http://dx.doi.org/10.1115/esda2010-24434.

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A Tetrahedral Walker (TET Walker) is a robot made to extend space exploration into inaccessible regions. The motion of the tetrahedron is due to the changes in the struts length. This work presents the implementation and walking gait design of a tetrahedron walker robot. A model for walking gait of the robot is developed. A comparison is then made between different computer simulations of the gaits. A navigation algorithm for walking gait of this type of robots is also developed and discussed.

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Uchida, Hiroaki, Kenzo Nonami, Yoshihiko Iguchi, Huang Qing Jiu, and Takaaki Yanai. "Partial Model Based Walking Control of Quadruped Locomotion Robot With Self Renovation Control Function." In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/movic-8432.

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Abstract It is considered that locomotion robots are aggressive under the circumstances where human hardly work, for example, in the nuclear power plant, in the bottom of the sea and on a planet. The injury and the fault of the robot might occur frequently under those circumstances. It is very important problem that the robot can realize the walking with the fault. This is very difficult problem for biped and quadruped robot to realize a stable walking in the case that actuator or sensor is broken. And, in walking of mammal, gait pattern is generated by neural oscillator existing in the spinal cord. In the case that a lower neural system is injured, mammal realize a walking by a higher neural system. Thus, mammal has a self renovation function. In this study, in order to realize the stable walking of the quadruped robot with fault, we discuss the control method with self renovation function for the fault of the decentralized controller and the angular sensor. First, we design the centralized controller of one leg by sliding mode control for the fault of decentralized controller. Second, Sky Hook Suspension Control is applied for the fault of the angular sensor. The proposed methods are verified by 3D simulations by CAD and experiments.

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Lin, Yueh-Jaw, and Aaron Tegland. "Feasibility Study of Designing a Three Legged Walking Robot: Tribot." In ASME 1991 International Computers in Engineering Conference and Exposition. American Society of Mechanical Engineers, 1991. http://dx.doi.org/10.1115/cie1991-0154.

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Abstract In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.

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Qu, Jinhong, and Kenn R. Oldham. "Multiple-Mode Dynamic Model for Piezoelectric Micro-Robot Walking." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59621.

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A multiple-mode dynamic model is developed for a piezoelectrically-actuated micro-robot with multiple legs. The motion of the micro robot results from dual direction motion of piezoelectric actuators in the legs, while the complexity of micro robot locomotion is increased by impact dynamics. The dynamic model is developed to describe and predict the micro robot motion, in the presence of asymmetrical behavior due to non-ideal fabrication and variable properties of the underlying terrain. The dynamic model considers each robot leg as a continuous structure moving in two directions derived from beam theory with specific boundary condition. Robot body motion is modeled in six degrees of freedom using a rigid body approximation. Individual modes of the resulting multimode robot are treated as second order linear systems. The dynamic model is tested with a meso-scale robot prototype having a similar actuation scheme as micro-robots. In accounting for the interaction between robot and ground, the dynamic model with first two modes of each leg shows good match with experimental results for the mesoscale prototype, in terms of both magnitude and the trends of robot locomotion with respect to actuation conditions.

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Kljuno, Elvedin, Robert L. Williams, and Jim Zhu. "Bipedal Walking Robot Driven by Elastic Cables." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70292.

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This paper presents a design concept and analysis of a bipedal walking robot with a novel type of actuation using elastic cables. Each leg has 6-dof, the trunk has 3-dof, and each arm has 1-shoulder-dof. Conventional walking robots consist of joint-attached drives at revolute joints. This yields relatively heavy legs and arms with high moments of inertia, which makes balancing robot dynamic walking difficult due to the high inertial forces of distal segments. The cable-based actuation system is designed for the most kinetically-active biped segments, such as lower legs. These consist of DC motors located on the trunk, elastic cables (with serially-connected springs) and cable routing with specially-designed pulleys. Since the trunk segment accelerations are significantly lower than the leg segments accelerations, it is expected that the overall energy required by the cable-actuated robot is significantly lower than the energy input to a directly-actuated biped. Another novelty in the biped actuation system design is the use of elastic rather than non-elastic cables, for two reasons: smoothing out the sharp impulses due to the foot-ground collision and reduction of the number of motors to actuate each joint. Non-elastic cable-based drives require each cable to be pulled by a separate motor, which would double the number of motors and increase the weight. This problem can be solved using elastic cables and specially-shaped pulleys to reduce the number of motors with a slight increase in controller complexity. The bipedal walking robot architecture with cable drives mimics the human body architecture, where the hip joint is a 3-dof spherical joint, 1-dof knee joint, and 2-dof ankle joint. The architecture is more compact compared to the conventional joint attached drive architecture, wherein all revolute joints are separated. Based on the kinematic and dynamic analysis of the robot, a controller is designed and the perturbation robustness tested. A feedback linearization controller design is used, requiring system dynamics knowledge. Steps toward hardware implementation have been made, since we have implemented an elastic cable actuation system on a robotic cat prior to the concept design for the bipedal robot. The difficulties are discussed, including future plans for improvements and hardware testing.

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Pratt, Jerry, and Ben Krupp. "Design of a bipedal walking robot." In SPIE Defense and Security Symposium, edited by Grant R. Gerhart, Douglas W. Gage, and Charles M. Shoemaker. SPIE, 2008. http://dx.doi.org/10.1117/12.777973.

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KONYEV, M., F. PALlS, Y. ZAVGORODNIY, A. MELNIKOV, A. RUDSKIY, A. TELESH, U. SCHMUCKER, and V. RUSIN. "WALKING ROBOT “ANTON”: DESIGN, SIMULATION, EXPERIMENTS." In Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2008. http://dx.doi.org/10.1142/9789812835772_0110.

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Rocheleau, Simon G., Vincent Duchaine, Pascal Bochud, and Cle´ment Gosselin. "PROMPT: A Small Walking Robot for Planetary Exploration." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87508.

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Planetary exploration has already taken place for several years now using wheeled rovers. However, even though successful, these missions are limited to relatively flat and sedentary grounds. The areas explored are very interesting, but are of less importance from the point of view of searching for potential traces of life when compared to certain riskier zones. It is well understood that space agencies cannot afford the risk of using costly robots in these zones of uncommon geology. It is therefore anticipated that space exploration will evolve towards the use of small low-cost robots mobile enough to be used on rough terrains rich in geological information. This paper presents a small walking robot platform that was developed based on requirements provided by the Canadian Space Agency (CSA).

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Pan, Yang, and Feng Gao. "Kinematic Performance Analysis for Hexapod Mobile Robot Using Parallel Mechanism." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34591.

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Walking robots have been studied a lot over last several decades due to their good adaptability in different complex environments. The walking robot in this paper is designed for the research on emergency rescue missions in nuclear plants. Unlike other mobile robots, it apply parallel mechanism for its legs. This paper mainly focus on the kinematic performance of the parallel leg mechanism. Section 2 gives a brief introduction of our robot and the kinematic model. Then section 3 analyze the workspace of the leg tip. After that the payload and velocity capability are discussed respectively and it turns out that the mechanism has very good payload performance but the velocity is relatively low. Next the isotropic characteristic is studied in the whole workspace. Then the experiments indicate that the robot can successfully finish walking and manipulating tasks.

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Reports on the topic "Design of walking robot"

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Steele, Alexander. Biomimetic Design and Construction of a Bipedal Walking Robot. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.6370.

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Yang, Xinwei, Huan Tu, and Xiali Xue. The improvement of the Lower Limb exoskeletons on the gait of patients with spinal cord injury: A protocol for systematic review and meta-analysis. INPLASY - International Platform of Registered Systematic Review and Meta-analysis Protocols, August 2021. http://dx.doi.org/10.37766/inplasy2021.8.0095.

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Review question / Objective: The purpose of this systematic review and meta-analysis was to determine the efficacy of lower extremity exoskeletons in improving gait function in patients with spinal cord injury, compared with placebo or other treatments. Condition being studied: Spinal Cord Injury (SCI) is a severely disabling disease. In the process of SCI rehabilitation treatment, improving patients' walking ability, improving their self-care ability, and enhancing patients' self-esteem is an important aspect of their return to society, which can also reduce the cost of patients, so the rehabilitation of lower limbs is very important. The lower extremity exoskeleton robot is a bionic robot designed according to the principles of robotics, mechanism, bionics, control theory, communication technology, and information processing technology, which can be worn on the lower extremity of the human body and complete specific tasks under the user's control. The purpose of this study was to evaluate the effect of the lower extremity exoskeleton on the improvement of gait function in patients with spinal cord injury.

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Young, Stuart H., and Hung M. Nguyen. Small Robot Team System Design. Fort Belvoir, VA: Defense Technical Information Center, October 2003. http://dx.doi.org/10.21236/ada420144.

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Zelenak, Andrew J. Covercoat Pick-and-Place Robot Design. Office of Scientific and Technical Information (OSTI), August 2013. http://dx.doi.org/10.2172/1089458.

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Zimmerman, G. P. Conceptual design for a land decontamination robot. Office of Scientific and Technical Information (OSTI), November 1989. http://dx.doi.org/10.2172/5273232.

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Liu, Cong, Xing Wang, and Jianghua Zhu. Effect of Robot Training on Walking Ability, Balance Ability and Motor Function in Stroke Patients: A Meta-analysis. INPLASY - International Platform of Registered Systematic Review and Meta-analysis Protocols, April 2021. http://dx.doi.org/10.37766/inplasy2021.4.0085.

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Barnes, Mitch, H. R. Everett, and Pavlo Rudakevych. ThrowBot: Design Considerations for a Man-Portable Throwable Robot. Fort Belvoir, VA: Defense Technical Information Center, January 2005. http://dx.doi.org/10.21236/ada432380.

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Udengaard, Martin, and Karl Iagnemma. Design Of An Omnidirectional Mobile Robot For Rough Terrain. Fort Belvoir, VA: Defense Technical Information Center, September 2007. http://dx.doi.org/10.21236/ada510606.

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Bostelman, Roger. Electrical design of the infraredultrasonic sensing for a robot gripper. Gaithersburg, MD: National Institute of Standards and Technology, 1989. http://dx.doi.org/10.6028/nist.ir.89-4223.

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Chen, Jessie Y., Ellen C. Haas, Krishna Pillalamarri, and Catherine N. Jacobson. Human-Robot Interface: Issues in Operator Performance, Interface Design, and Technologies. Fort Belvoir, VA: Defense Technical Information Center, July 2006. http://dx.doi.org/10.21236/ada451379.

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