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Journal articles on the topic 'Design of walking robot'

Author: Grafiati
Published: 4 June 2021
Last updated: 14 February 2022

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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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2

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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7

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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8

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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9

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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10

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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11

Masuda, Yoichi, and Masato Ishikawa. "Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation." Journal of Robotics and Mechatronics 29, no. 3 (June 20, 2017): 528–35. http://dx.doi.org/10.20965/jrm.2017.p0528.

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[abstFig src='/00290003/08.jpg' width='230' text='The tripedal robot “Martian petit”' ] Significant efforts to simplify the body structure of multi-legged walking robots have been made over the years. Of these, the Spring-Loaded-Inverted-Pendulum (SLIP) model has been very popular, therefore widely employed in the design of walking robots. In this paper, we develop a SLIP-based tripedal walking robot 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. As demonstrated through experiments, the simplified design of the robot makes possible the generation of high-speed dynamic locomotion. Despite the structural simplicity of the proposed model, the generation of several gait-patterns is demonstrated. The proposed minimalistic design approach with radial symmetry simplifies the function of each limb in the three-dimensional gait generation of the robot.
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12

Khan, Liquan, Gang, Imran, Waqas, and Zaidi. "Concept Design of the Underwater Manned Seabed Walking Robot." Journal of Marine Science and Engineering 7, no. 10 (October 15, 2019): 366. http://dx.doi.org/10.3390/jmse7100366.

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In this paper, a novel concept designed of a multi-legged underwater manned seabed walking robot is presented. The robot will be used in both shallow water current (1–2 m/sec) and deep water up to 500 m. It is powered by an external electric power source through tether cable. It walks on the seabed with six legs, which makes it distinct from conventional screw-propelled underwater robots. It can walk calmly without making the water turbid. Two anterior arms act as manipulators. All leg joints and manipulators are controlled by Brushless Direct Current Motors. Motivation for this concept comes from soldier crab that walk mostly forward and has an egg-shaped body. It is operated by a pilot sitting in a pressurized cabin, and promptly control operations of the robot and manipulator. Preliminary design of the pressurized cabin, using an empirical formula, “ASME PVHO-1 2007” standard, and validation was carried out through ANSYS Workbench. Hydrodynamic forces acting on the robot body and legs are utilized to withstand the water current and external forces to adjust legs and body posture for stability. Buoyancy rules are employed to control its rising and diving motion. All key technologies employed in the development of the robot and their approaching methods are explained. It will provide a safe operation space for humans in underwater operations.
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13

Warnakulasooriya, Sujan, Amin Bagheri, Nathan Sherburn, and Madhavan Shanmugavel. "Bipedal Walking Robot-A Developmental Design." Procedia Engineering 41 (2012): 1016–21. http://dx.doi.org/10.1016/j.proeng.2012.07.277.

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14

Cao, Shao Yong. "The Mechanical Structure Design of Bionic Quadruped Walking Robot." Applied Mechanics and Materials 851 (August 2016): 484–91. http://dx.doi.org/10.4028/www.scientific.net/amm.851.484.

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This paper aims to design a flexible, efficient, reliable and long-term working quadruped robot, which can be operating in complex environment such as carrying cargoes over rough terrains. The robot’s body shape is constructed by using bionic methodology after observation and analysis of the four-legged animal’s bone structure and body proportion. And the robot’s gait, step length and stride frequency are determined by studying four-leg animal’s movements. Moreover, the robot’s working space can be known by studying the joint form and activity scope of four-legged animals. Finally, the overall structure of this robot can be designed and eventually the desired objectives are achieved. The results turned out to be useful for the research of quadruped robots
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15

Lin, Chyi Yeu, Yi Pin Chiu, Li Chieh Cheng, Chun Chia Huang, Po Chia Jo, and Wei Lung Lin. "Panda Robot: Kinematic Design and Simulation for Quadrupedal Walking." Applied Mechanics and Materials 284-287 (January 2013): 1888–93. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.1888.

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For most quadruped robots, their waist joints can usually pitch or yaw, but cannot roll. Thus, their gaits can only be simulated by a simple motion model based on single-legged mechanisms. When pandas move on their four feet, they swing their hips and rear legs from side to side. Thus, the purpose of this study is to develop a quadruped robot which is equipped with a waist joint of one degree of freedom (DOF) for rolling so as to imitate the waist-swinging motion of a real panda. This research starts at editing the predetermined motion conditions with lengths of all panda body parts and the mechanism model with corresponding degree-of-freedom in the CAE software. The related simulation parameters of leg motions are acquired as a reference for gait controls. The quadrupedal walking process was tested in simulators to verify important design variables and simulation validity was also verified on the actual panda robot after their buildup. With this approach, this study has effectively and successfully developed a panda robot with a waist joint that can roll.
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16

Hajduk, Mikuláš, Marek Sukop, Lubos Marko, Jozef Varga, and Vladimír Baláž. "Design of Humanoid’s Lower Limb Model for Walking." Advanced Materials Research 463-464 (February 2012): 1224–27. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1224.

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This paper describes basic principles of the kinematic structure design for two - leg walking robots. The article deals with the design of walking phases detailed, which is described in sagital and frontal plane so that movement of the centre of gravity was outside the support polygon and also offers the model of walk for the concrete construction of the two - leg walking robot. This article is the result of research activities of our department in humanoid robotics.
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17

Hanazawa, Yuta, and Masaki Yamakita. "High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles." Journal of Robotics and Mechatronics 24, no. 3 (June 20, 2012): 498–506. http://dx.doi.org/10.20965/jrm.2012.p0498.

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In this paper, we present novel biped walking based on flat-footed Passive Dynamic Walking (PDW) with mechanical impedance at the ankles. To realize biped robot achieving high-efficient walking, PDW has attracted attention. Recently, flat-footed passive dynamic walkers with mechanical impedance at the ankles have been proposed. We show that this passive walker achieves fast, energy-efficient walking using ankle springs and inerters. For this reason, we propose novel biped walking control that mimics PDW to realize biped robots achieving fast, energy-efficient walking on level ground. First, we design a flat-footed biped robot that achieves fast, energy-efficient PDW. To achieve walking based on PDW, the biped robot then takes advantage of a virtual gravitational field that is generated by actuators. The biped robot also pushes off with the foot in the double-support phase to restore energy. By walking simulation, we show that a flat-footed biped robot achieves fast, energy-efficient walking on level ground by the proposed method.
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18

Savin, Sergei, Sergey Jatsun, and Ludmila Vorochaeva. "State observer design for a walking in-pipe robot." MATEC Web of Conferences 161 (2018): 03012. http://dx.doi.org/10.1051/matecconf/201816103012.

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In this paper, a state observer design for a walking in-pipe robot is studied. The necessity of using a state observer is related to the fact that sensors have limited accuracy and are prone to producing noise. This is especially problematic for in-pipe walking robots, since they use model-based control and require accurate information of their current state. The paper shows that an iterative state observer based on solving Riccati equation provides significant improvements in the behaviour of the control system. It allows to smooth out the spikes in the control actions requested by controller and to minimize tremor of the robot links. In order to study the behaviour of the observer when different sensors are used, a performance function was introduced. It was shown that the observer allows to improve the performance of the control system for a wide range of sensor parameters. Additionally, it was shown that the introduction of the observer allows to choose higher feedback controller gains, enabling more precise control. Simulations on the full robot model, taking into account mechanical constraints and contact forces showed that the linear observer is capable of improving the behaviour of the control system of the walking robot, if measurements of the reaction forces are provided. The effects that the noise and quantization in the reaction forces measurements have on the behaviour of the state observer is studied.
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Sapiee, M. R., M. H. M. Marhaban, M. F. Miskon, and A. J. Ishak. "Walking simulation model of lower limb exoskeleton robot design." Journal of Mechanical Engineering and Sciences 14, no. 3 (September 30, 2020): 7071–81. http://dx.doi.org/10.15282/jmes.14.3.2020.09.0554.

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Since 1960s, the development of exoskeleton robots have been advancing in the applications such as load carrying, walking endurance, physical assistance and rehabilitation therapy. Rehabilitation therapy in itself is related to walking ability restoration; especially for the elder people. A survey by The United Nations in 2017 revealed increase trend in the number of ageing population. Due to ageing, it may cause weakened limbs, lower limb injuries or disabilities resulting in walking impairment. Elder people suffering from walking impairment will need to undergo walking therapy to recover walking ability. A walking rehabilitation exoskeleton robot can be used for such patients to undergo the therapy by wearing it on their lower body. A lower limb exoskeleton effectiveness for gait recovery assessment in the design stage is not truly explored yet. This can be done by obtaining the simulation model of the lower limb exoskeleton robot structure from its CAD design. The gait pattern tracking response performance of the exoskeleton design to given inputs can then be observed. The lower limb exoskeleton structure is designed using Autodesk Inventor and then imported into SimMechanics. A block diagram of the exoskeleton model is generated, whereby the model is simulated and its response is observed. Given mathematical expression and experimental data inputs, the exoskeleton model with control system is able to track given joint trajectory inputs. The lower limb exoskeleton model shows that the response of its joints to the inputs can replicate human joints behavior during walking for any given stimulus inputs.
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20

Zhou, Yu. "On the planar stability of rigid-link binary walking robots." Robotica 21, no. 6 (October 24, 2003): 667–75. http://dx.doi.org/10.1017/s0263574703005162.

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A binary walking robot moves as a result of bi-state actuator transitions. Because of the bi-state nature of binary joints, many research results about continuous walking robots cannot be applied to binary walking robots directly. In this paper, a new and simple model of rigid-link binary walking robot is proposed, around which related concepts are introduced, and formulas are derived. Based on this model, general characteristics and limitations of periodic gaits are discussed, and the stability qualities of several straight-line walking periodic gaits are studied in both pitch-greater-than-stroke and stroke-greater-than-pitch cases. Valuable results are obtained from the analysis, which should be followed in the design of rigid-link binary walking robots.
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21

Pa, Pai Shan, and Jinn Bao Jou. "Design of a Biped Toy Robot with an Automatic Center of Gravity Shifting Mechanism." Advanced Materials Research 118-120 (June 2010): 670–74. http://dx.doi.org/10.4028/www.scientific.net/amr.118-120.670.

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The design of the biped toy robot in this study, presents a brand new concept compared to that of the conventional mechanical biped robots on the market. These conventional mechanical products rely mainly on a large sole area to stabilize the wobbling movement during walking. In this design walking stability is not achieved by large sole areas, but by having more degrees of freedom and automatically shifting the center of gravity as the robot walks. A single motor is used to drive the biped toy robot trunk so that the center of gravity is automatically shifted to achieve walking stability. The two feet are driven by four connecting rods for striding and leg-lifting action. More particularly, an equal parallel crank mechanism is provided that uses a single motor to drive the connecting rods, thereby swinging the center of gravity of the toy robot in time with striding frequency. In addition, the concept of the zero moment point is utilized in the shifting of the center of gravity allowing the biped robot to lift its legs, change step, and move forward in balance. This study also discusses the use of the four connecting rods, and the shifting of the center of gravity of the robot, as an alternative to the servomotors commonly used in conventional robots which are bulky, expensive and hard to control.
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Stöckli, Fritz, Fabio Modica, and Kristina Shea. "Designing passive dynamic walking robots for additive manufacture." Rapid Prototyping Journal 22, no. 5 (August 15, 2016): 842–47. http://dx.doi.org/10.1108/rpj-11-2015-0170.

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Purpose Ongoing research in computational design synthesis of passive dynamic systems aims to automatically generate robotic configurations based on a given task. However, an automated design-to-fabrication process also requires a flexible fabrication method. This paper aims to explore designing and fabricating passive dynamic walking robots and all necessary components using single-material fused deposition modeling (FDM). Being able to fabricate all components of a robot using FDM is a step toward the goal of automated design and fabrication of passive dynamic robots. Design/methodology/approach Two different configurations of passive dynamic walking robots are re-designed to be fabricated using FDM. Different robotic joint assemblies are designed and tested. To arrive at feasible solutions, a modular design approach is chosen and adjustability of components after printing is integrated in the design. Findings The suitability of FDM for printing passive dynamic robots is shown to depend heavily on the sensitivity of the configuration. For one robot configuration, all components are printed in one job and only little assembly is needed after printing. For the second robot configuration, which has a more sensitive gait, a metal bearing is found to increase the performance substantially. Originality/value Printable, monolithic mechatronic systems require multi-material printing, including electronics. In contrast, passive dynamic systems not only have the potential to save energy and component cost compared to actuated systems but can also be fabricated using single-material FDM as demonstrated in this paper.
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BAGHERI, AHMAD, FARID NAJAFI, REZA FARROKHI, RAHMAN YOUSEFI MOGHADDAM, and MOHAMMAD EBRAHIM FELEZI. "DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT." International Journal of Humanoid Robotics 03, no. 01 (March 2006): 105–26. http://dx.doi.org/10.1142/s0219843606000527.

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Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, "supporting leg and trunk" and "swing leg" separately, the stability of robot is achieved by locating the zero moment point (ZMP). A dynamic modification is developed for ZMP positioning. For motion control of the robot, the physical parameters (such as mass, link length and geometry) are estimated (identified) by adaptive methods. A Matlab based software simulation is also conducted.
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Nguyen, Van Dong Hai, Xuan-Dung Huynh, Minh-Tam Nguyen, Ionel Cristian Vladu, and Mircea Ivanescu. "Hierarchical Sliding Mode Algorithm for Athlete Robot Walking." Journal of Robotics 2017 (2017): 1–13. http://dx.doi.org/10.1155/2017/6348980.

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Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Successful simulation results show the motion of athlete robot.
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Iribe, Masatsugu, and Koichi Osuka. "Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties." Journal of Robotics and Mechatronics 19, no. 4 (August 20, 2007): 402–8. http://dx.doi.org/10.20965/jrm.2007.p0402.

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Most mobile robot development has adopted model-based control. On the other hand, we focused on the passive dynamic walking robot that walks only by its dynamics. If the principle of the passive dynamic walking robot is analyzed and clarified, we could apply it to conventional walking robot control, and improve the performance of it. For this reason we tried to develop new design of the passive dynamic walking robot. In this paper we describe the robot’s dynamic properties, and propose a new design method applying these properties.
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COLETT, JOSEPH S., and JONATHAN W. HURST. "ARTIFICIAL RESTRAINT SYSTEMS FOR WALKING AND RUNNING ROBOTS: AN OVERVIEW." International Journal of Humanoid Robotics 09, no. 01 (March 2012): 1250001. http://dx.doi.org/10.1142/s0219843612500016.

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Many efforts to develop walking and running robots utilize a boom or other device to catch the robot when it falls, sense the position of the robot, and constrain the robot to operate in a two dimensional plane. However, publications usually focus on the robot, and the restraint system remains undocumented. Each group must start from scratch, or rely on word of mouth to build on the experience of others. This paper focuses solely on the artificial restraint system for legged robots, with discussion of various design options and documentation of existing systems.
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Hu, Xiao Chun, Xiao Peng Li, Qing Qing Zhang, Bao Zhao, and Qin Xia. "The Experimental Study of the Influence of the Foot Articulated Structure on the Biped Robot Walking." Applied Mechanics and Materials 461 (November 2013): 924–29. http://dx.doi.org/10.4028/www.scientific.net/amm.461.924.

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Abstract: Purpose：By investigating the variation of the human walking gait kinematics with respect to the foot deformation constraint, prove that bionic design of feet are the necessity for biped robots to imitate human walking better in terms of flexibility, stability and efficiency. The results will be significant for future research and development of biped robots. Methods: A human being was assumed as a perfect biped robot which had ideal motion drive and control. The walking gait parameters of two healthy men with foot deformation unconstrained and constrained were tested respectively by the inertia motion capture suit, and then they were processed by programming and analyzed by comparison. Results: The data analysis showed that when subjects walked with foot deformation constrained, their angular displacements of lower limb joints generally increased, the curves of angular velocity and accelerations fluctuated in certain walking phases, the walking pace and stride length decreased obviously, the single support phase shortened while the double support phase lengthened. At the same time, subjects felt subjectively that their body motion was less flexible, the walking posture was difficult to control, and the walking stability was more strenuous to keep. Conclusion: Combining the logical analogies with the detailed experimentation results, it is inferred that biped robots with rigid feet will have to suffer awkward and unstable walking gait, heavier and strenuous steps, and lower energy efficiency while walking. The paper concludes the necessity of bionic design of the robot feet for improving the walking quality of the biped robots. The conclusion and the experiment data will be of significant value for future work of robot design and evaluation.
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Korendiy, Vitaliy, Roman Zinko, Vasyl Lozynskyy, and Oleksandr Havrylchenko. "Design and operational peculiarities of four-degree-of-freedom double-legged robot with pneumatic drive and turning mechanism." Ukrainian journal of mechanical engineering and materials science 6, no. 1 (2020): 54–71. http://dx.doi.org/10.23939/ujmems2020.01.054.

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Problem statement. Mobile robots are of significant interest among scientists and designers during the last several decades. One of the prospective drives of such robots is based on pneumatically operated walking (stepping) system with no use of electric, heat, magnetic or other types of energy. This allows the use of pneumatically-driven robots in the cases when the use of other energy sources is prohibited (e.g., in some gaseous or fluid mediums). At the same time, the walking (stepping) type of moving increases the manoeuvrability and cross-country capability of the mobile robot, and decreases the harmful effect of its interaction with the supporting surface (e.g., the fertile soil surface) in comparison with wheeled or caterpillar drives. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of four-degree-of-freedom mobile robot with orthogonal walking drive and turning mechanism. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical experiment is conducted in MathCAD software; the computer simulation of the robot’s motion is performed using SolidWorks software; the modelling of the pneumatic system operation is carried out in Festo FluidSim Pneumatic software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive and turning mechanism is proposed. The pneumatically operated system ensuring the robot’s curvilinear motion is substantiated. Practical value. The proposed design of walking robot can be used while designing industrial (production) prototypes of mobile robotic systems for performing various activities in the environments that are not suitable for using electric power or other types of energy sources. Scopes of further investigations. While carrying out further investigations, it is necessary to design the devices for changing motion speed of the robot and the height of lifting of its feet.
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29

Tang, Zhao, Peng Qi, and Jian Dai. "Mechanism design of a biomimetic quadruped robot." Industrial Robot: An International Journal 44, no. 4 (June 19, 2017): 512–20. http://dx.doi.org/10.1108/ir-11-2016-0310.

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Purpose This paper aims to introduce a novel design of the biomimetic quadruped robot, including its body structure, three structural modes and respective workspace. Design/methodology/approach By taking a metamorphic 8-bar linkage as the body of a quadruped robot, the authors propose a reconfigurable walking robot that can imitate three kinds of animals: mammals (e.g. dog), arthropods (e.g. stick insect) and reptiles (e.g. lizard). Furthermore, to analyze the three structural modes of this quadruped robot, the workspace is calculated and studied. Findings Based on experimental data analyses, it is revealed that the metamorphic quadruped robot can walk in all its three structural modes and adapt to different terrains. Research limitations/implications Because the body of the quadruped robot is deformable and reconfigurable, the location of payload is not considered in the current stage. Practical implications The relative positions and postures of legs of the metamorphic robot can be rearranged during its body reconfiguration in such a way to combine all the features of locomotion of the three kinds of animals into one robot. So, the metamorphic quadruped robot is capable of maintaining wider stability margins than conventional rigid-body quadruped robots and conducting operations in different environments, particularly the extreme and restricted occasions due to the changeable and adaptable trunk. Originality/value The main contribution is the development of a reconfigurable biomimetic quadruped robot, which uses the metamorphic 8-bar linkage. This robot can easily reshape to three different structural modes and mimic the walking patterns of all mammals, arthropods and reptiles.
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30

Wang, Hui, Yan Ma, Chang Qing Ren, and Ning Li. "Structure Design and Kinematic Analysis on the Walking Mechanism of Forestry Walking Robot." Applied Mechanics and Materials 26-28 (June 2010): 880–85. http://dx.doi.org/10.4028/www.scientific.net/amm.26-28.880.

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It makes a brief description of the walking robot used in the forestry. The paper makes a deep analysis and founds a scheme on the walking mechanism of forestry walking robot, illustrates the relationship among the mechanism structure, component size, tracks and kinematic parameters of the foot. It makes an experimental prototype design which through the analysis before, embeds the scheme into the design parameters, and conducts an actual verification about the results of theoretical derivation. The results proved the feasibility of the design, and reflected the impact factors of the motion. It will lay the theoretical foundation for the walking mechanism’s design and research of the forestry walking robot, and will be in favor of the development and utilization of the forestry walking robot in the new period.
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31

Wei, Yongle, Jiashun Zhang, and Lijin Fang. "Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable." Journal of Robotics 2021 (April 19, 2021): 1–14. http://dx.doi.org/10.1155/2021/8885919.

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The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The corresponding force balance equations were established, and the walking-wheel torques in each working state were solved. The working states of the robot walking along the catenary shape line were simulated using ADAMS software. Simulation results show that the walking process of the robot is stable, the walking-wheels have good contact with the line, and the forces of two walking-wheels are almost balanced, which enables the robot to have good adaptability and climbing ability for the line. The prototype test that the robot walked along the line was carried out. The results of the simulation and prototype test are consistent with the theoretical analysis, so the rationality of robot structure design is verified. In the future, the navigation control and stability of the robot walking along the line will be researched, so that the robot can complete the patrol task in the real environment.
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32

Guo, Fayong, Tao Mei, Marco Ceccarelli, Ziyi Zhao, Tao Li, and Jianghai Zhao. "A generic walking pattern generation method for humanoid robot walking on the slopes." Industrial Robot: An International Journal 43, no. 3 (May 16, 2016): 317–27. http://dx.doi.org/10.1108/ir-09-2015-0170.

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Purpose Walking on inclined ground is an important ability for humanoid robots. In general, conventional strategies for walking on slopes lack technical analysis in, first, the waist posture with respect to actual robot and, second, the landing impact, which weakens the walking stability. The purpose of this paper is to propose a generic method for walking pattern generation considering these issues with the aim of enabling humanoid robot to walk dynamically on a slope. Design/methodology/approach First, a virtual ground method (VGM) is proposed to give a continuous and intuitive zero-moment point (ZMP) on slopes. Then, the dynamic motion equations are derived based on 2D and 3D models, respectively, by using VGM. Furthermore, the waist posture with respect to the actual robot is analyzed. Finally, a reformative linear inverted pendulum (LIP) named the asymmetric linear inverted pendulum (ALIP) is proposed to achieve stable and dynamical walking in any direction on a slope with lower landing impact. Findings Simulations and experiments are carried out using the DRC-XT humanoid robot platform with the aim of verifying the validity and feasibility of these new methods. ALIP with consideration of waist posture is practical in extending the ability of walking on slopes for humanoid robots. Originality/value A generic method called ALIP for humanoid robots walking on slopes is proposed. ALIP is based on LIP and several changes, including model analysis, motion equations and ZMP functions, are discussed.
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33

Liang, Conghui, Hao Gu, Marco Ceccarelli, and Giuseppe Carbone. "Design and operation of a tripod walking robot via dynamics simulation." Robotica 29, no. 5 (October 12, 2010): 733–43. http://dx.doi.org/10.1017/s0263574710000615.

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SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.
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34

Lee, Choon-Young, and Ju-Jang Lee. "Walking-support robot system for walking rehabilitation: design and control." Artificial Life and Robotics 4, no. 4 (December 2000): 206–11. http://dx.doi.org/10.1007/bf02481176.

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35

Hatala, Michal, Miroslav Mičko, Ľubomir Olexa, Peter Michalik, Ján Čisár, and Pavel Kokuľa. "Design of Module of Moving Robot." Applied Mechanics and Materials 616 (August 2014): 93–100. http://dx.doi.org/10.4028/www.scientific.net/amm.616.93.

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Article deals with the design of module walking robot. When designing a walking robot construction is an important to choose correct structure of the body and legs. In practice, are mostly used constructions with the numbers of feet two, four and six. Selected variant was subsequently analyzed and optimized and was assigned appropriate material. Based on the measurements and the subsequent comparison of the results was designed suitable actuators for selected modes of motion.
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36

Qiu, Zhe, Lei Zhang, Yang Tian, Xiao Kai Feng, and Sheng Yuan Zhang. "An Optimized Design of Humanoid Robot Distributed Control System." Applied Mechanics and Materials 541-542 (March 2014): 1043–48. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1043.

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A distributed control system applied to small humanoid robots is designed in this paper, using ARM embedded processor and modular function approaches. The system designs plenty of hardware circuits to promote operability of system and reduce difficulties in development. This design solves the problems of high cost, low scalability, weak autonomy of small humanoid robot control system, providing a reliable experimental platform for further study. The feasibility of this control system will be verified through walking experiment of biped robot.
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37

Arbulú, M., D. Kaynov, L. Cabas, and C. Balaguer. "The Rh-1 Full-Size Humanoid Robot: Design, Walking Pattern Generation and Control." Applied Bionics and Biomechanics 6, no. 3-4 (2009): 301–44. http://dx.doi.org/10.1155/2009/974354.

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This paper is an overview of the humanoid robot Rh-1, the second phase of the Rh project, which was launched by the Robotics Lab at the Carlos III University of Madrid in 2002. The robot mechanical design includes the specifications development in order to construct a platform, which is capable of stable biped walking. At first, the robots’ weights were calculated in order to obtain the inverse dynamics and to select the actuators. After that, mechanical specifications were introduced in order to verify the robot’s structural behaviour with different experimental gaits. In addition, an important aspect is the joints design when their axes are crossed, which is called ‘Joints of Rectangular Axes’ (JRA). The problem with these joints is obtaining two or more degrees of freedom (DOF) in small space. The construction of a humanoid robot also includes the design of hardware and software architectures. The main advantage of the proposed hardware and software architectures is the use of standardised solutions frequently used in the automation industry and commercially available hardware components. It provides scalability, modularity and application of standardised interfaces and brings the design of the complex control system of the humanoid robot out of a closed laboratory to industry. Stable walking is the most essential ability for the humanoid robot. The three dimensional Linear Inverted Pendulum Model (3D-LIPM) and the Cart-table models had been used in order to achieve natural and dynamic biped walking. Humanoid dynamics is widely simplified by concentrating its mass in the centre of gravity (COG) and moving it following the natural inverted pendulum laws (3D-LIPM) or by controlling the cart motion (Cart-table model). An offline-calculated motion pattern does not guarantee the walking stability of the humanoid robot. Control architecture for the dynamic humanoid robot walking was developed, which is able to make online modifications of the motion patterns in order to adjust it to the continuously changing environment. Experimental results concerning biped locomotion of the Rh-1 humanoid robot are presented and discussed.
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38

GHORBANI, REZA, and QIONG WU. "ON IMPROVING BIPEDAL WALKING ENERGETICS THROUGH ADJUSTING THE STIFFNESS OF ELASTIC ELEMENTS AT THE ANKLE JOINT." International Journal of Humanoid Robotics 06, no. 01 (March 2009): 23–48. http://dx.doi.org/10.1142/s0219843609001656.

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Impact at each leg transition is one of the main causes of energy dissipation in most of the current bipedal walking robots. Minimizing impact can reduce the energy loss. Instead of controlling the joint angle profiles to reduce the impact, which requires a significant amount of energy, installing elastic mechanisms (with adjustable stiffness) on the robots structure is proposed in this paper, enabling the robot to reduce the impact, and to store part of the energy in the elastic form and return it to the robot. The conceptual design of an adjustable stiffness artificial tendon is proposed which is added to the ankle joint of a bipedal walking robot model. Simulation results on the stance phase demonstrate significant improvements in the energetics of the bipedal walking robot by proper stiffness adjustment of the tendon as compared to using a single linear spring. A controller based on energy feedback is designed to automatically adjust the stiffness of the tendon. Computer simulations illustrate improvements in performance of the energetics of the bipedal walking robot in consecutive walking steps while the stiffness of the tendon is adjusted properly.
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39

Buschmann, Thomas, Sebastian Lohmeier, and Heinz Ulbrich. "Humanoid robot Lola: Design and walking control." Journal of Physiology-Paris 103, no. 3-5 (May 2009): 141–48. http://dx.doi.org/10.1016/j.jphysparis.2009.07.008.

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40

Matuliauskas, A., Bronislovas Spruogis, and A. Pikūnas. "Wall Press Walking In-Pipe Robot." Solid State Phenomena 113 (June 2006): 296–300. http://dx.doi.org/10.4028/www.scientific.net/ssp.113.296.

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This paper reviews a new wall press walking in-pipe robot. The provided design method is based on pneumatic actuators. This mobile robot can move in pipe of 300 mm diameter. In the first part of this paper, we explain the locomotion principle of the robot, and then we present the design method of the wall press walking in-pipe robot parts.
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41

Kljuno, Elvedin, and Robert L. Williams. "Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control." Journal of Robotics 2010 (2010): 1–19. http://dx.doi.org/10.1155/2010/278597.

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This article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. Relatively complicated architecture, high DOF, and balancing requirements make the control task of these robots difficult. Although linear control techniques can be used to control bipedal robots, nonlinear control is necessary for better performance. The emphasis of this work is to show that the reference model can be a bipedal walking model with concentrated mass at the center of gravity, which removes the problems related to design of a pseudo-inverse system. Another significance of this approach is the reduced calculation requirements due to the simplified procedure of nominal joint torques calculation. Kinematic and dynamic analysis is discussed including results for joint torques and ground force necessary to implement a prescribed walking motion. This analysis is accompanied by a comparison with experimental data. An inverse plant and a tracking error linearization-based controller design approach is described. We propose a novel combination of a nonlinear gain scheduling with a concentrated mass model for the MIMO bipedal robot system.
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42

IRIBE, Masatsugu, Daisuke URA, Haruyuki HIROSE, Tetsuya KINUGASA, and Koichi OSUKA. "2A2-E09 Legged Robot Design applying Passive Dynamic Walking's behavior(Passive Walking Robot (1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _2A2—E09_1—_2A2—E09_3. http://dx.doi.org/10.1299/jsmermd.2013._2a2-e09_1.

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43

Lee, Taehoon, Inwoo Kim, and Yoon Su Baek. "Design of a 2DoF Ankle Exoskeleton with a Polycentric Structure and a Bi-Directional Tendon-Driven Actuator Controlled Using a PID Neural Network." Actuators 10, no. 1 (January 4, 2021): 9. http://dx.doi.org/10.3390/act10010009.

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Lower limb exoskeleton robots help with walking movements through mechanical force, by identifying the wearer’s walking intention. When the exoskeleton robot is lightweight and comfortable to wear, the stability of walking increases, and energy can be used efficiently. However, because it is difficult to implement the complex anatomical movements of the human body, most are designed simply. Due to this, misalignment between the human and robot movement causes the wearer to feel uncomfortable, and the stability of walking is reduced. In this paper, we developed a two degrees of freedom (2DoF) ankle exoskeleton robot with a subtalar joint and a talocrural joint, applying a four-bar linkage to realize the anatomical movement of a simple 1DoF structure mainly used for ankles. However, bidirectional tendon-driven actuators (BTDAs) do not consider the difference in a length change of both cables due to dorsiflexion (DF) and plantar flexion (PF) during walking, causing misalignment. To solve this problem, a BTDA was developed by considering the length change of both cables. Cable-driven actuators and exoskeleton robot systems create uncertainty. Accordingly, adaptive control was performed with a proportional-integral-differential neural network (PIDNN) controller to minimize system uncertainty.
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44

Chen, Hai Long, Xiao Wu, Jun Du, and Jin Ping Tang. "Biped Walking Robot Gait Planning Research." Advanced Materials Research 706-708 (June 2013): 674–77. http://dx.doi.org/10.4028/www.scientific.net/amr.706-708.674.

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This paper uses biped walking robot as the research object, and designs robots original system, based on the requirements of Biped Walking Robot Competition of China. According to the biped walking robots characteristics of multi-joints, many degrees of freedom, multivariable, strong coupling and nonlinearity [, we can build system model using the Denavi - Hartenberg coordinate, describe the system model by the homogeneous coordinate transformation theory, and then plan on system gait based on ZMP stability . Finally, we can solve for the joint trajectory of the system by using computer-aided software.
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45

Liu, Jie, and Tao Wu. "Design of Biped Walking Robot Based on the Arduino." Applied Mechanics and Materials 364 (August 2013): 361–64. http://dx.doi.org/10.4028/www.scientific.net/amm.364.361.

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This paper probes a six-degree of freedom bipedal robot driving by servos and introduces the walking principle, structure composition and control system of the biped robot. Arduino is used to control the entire course of the movement. Based on the motion analysis of the biped walking robot, programming with the servo function, which is the Arduino software platform own specialized library functions to control the servo motor, control the rotation angle of the servos precisely. Ultimately complete the gait of the robot successfully.
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46

Suzuki, Hidekazu, and Hitoshi Nishi. "Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot." Journal of Advanced Computational Intelligence and Intelligent Informatics 15, no. 5 (July 20, 2011): 598–605. http://dx.doi.org/10.20965/jaciii.2011.p0598.

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Characterizing animal movement appropriately is important in pet robot design and Robot-Assisted Therapy (RAT). In studying how to generate animal gaits in quadruped robots, we used the canine AIBO robot. We began by optimizing a single leg path outputting propulsion efficiently and imitating canine walking using a genetic algorithm and a zoological basis. We administered a questionnaire to help determine subjective feelings in observers for choosing the optimum AIBO gait. We corrected minor deviations in joint parameters to stabilize walking on the ground.
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47

Bao, Ze Fu, Peng Zang, and Jiang Ping Wang. "The Design and Control of the Humanoid Walking Robot." Applied Mechanics and Materials 380-384 (August 2013): 328–31. http://dx.doi.org/10.4028/www.scientific.net/amm.380-384.328.

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The paper focuses on researching the biped humanoid walking robot about its dynamic characteristics and the control technology. The humanoid robot adopts the structure of a human body. There are a total of 19 DOF full body which results in a high balanced capacity and easily controlled arms and legs. In this way, the robot can make all kinds of imitation of human actions, such as tai chi, dancing and so on. My robot can serve as a development platform. By installing different modules of sensors to change or expand the functions of the body, the robot can satisfy the users demand in an economical way.
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48

Tao, Jie, Xin Wang, Tian Hui Zhang, Yue Hui Tan, and Hui Xian Sun. "Design and Implementation of Humanoid Robot Based on MK60 Embedded Microprocessor." Applied Mechanics and Materials 687-691 (November 2014): 3328–31. http://dx.doi.org/10.4028/www.scientific.net/amm.687-691.3328.

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An intelligent robot system is designed based on MK60DN512 embedded microprocessor, in the process of system design, the laser sensor detection sub system is researched, and microprocessor is used to control the multiple steering for robot walking posture adjustment between the robot joint angles, multi actuator position control is obtained, and humanoid robot adjust posture recognition is realized, according to the recognition results, the posture is adjusted, humanoid robot hardware design is taken, humanoid robot hardware design includes surface monitoring subsystem, space orbit simulation part, etc. The humanoid robot software design of robot is taken, combined with the robot walking track rules, the software structure of intelligent robot is designed, 7 degrees freedom coordinate system and link coordinates are constructed based on D-H theory, robot working space is obtained. The hardware part includes 4 parts: MK60DN512ZVLQ10 servo driven, power board, and main control board. The test results show that the humanoid robot has high control precision, the entire race walking of robot control system is simulated with 3cm/s, and the performance is stable, it shown good application value in the robot design.
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49

Tang, Jian Wen. "Design of Intelligent Auto-Tracing Robot Based on MCU Control." Advanced Materials Research 694-697 (May 2013): 1621–24. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.1621.

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The design and implementation of intelligent auto-tracing robot based on MCU control technology are introduced. Camera is used in the robot for walking path automatic identification, controlling of walking along with the fixed line, stopping and steering.
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50

Chu, Yan, Yan Shao, and Liang Chen. "Analysis and Design of a Wearable Robot for Lower-Limb Rehabilitation Training." Applied Mechanics and Materials 135-136 (October 2011): 256–60. http://dx.doi.org/10.4028/www.scientific.net/amm.135-136.256.

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After studying the advantages and disadvantages of existing wearable lower limb rehabilitation training robot product performance, by establishing human movement control model and the quadratic approximation formula, we designed a kind of control high-precision of lower limb rehabilitation training robots. The robot can simulate the normal actions as sitting, standing and walking for patients to take rehabilitation training. The structure of it is simple and reliable. And it is easily to be manufactured. The robot provides an ideal device for lower limb rehabilitation training
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