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Relevant bibliographies by topics / Walking robot

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Academic literature on the topic 'Walking robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 11 February 2022

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Journal articles on the topic "Walking robot"

1

Ignatova, D., E. Abadjieva, V. Abadjiev, and Al Vatzkitchev. "Walking Robot Locomotion System Conception." Journal of Theoretical and Applied Mechanics 44, no. 3 (September 1, 2014): 21–30. http://dx.doi.org/10.2478/jtam-2014-0014.

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Abstract This work is a brief analysis on the application and perspective of using the walking robots in different areas in practice. The most common characteristics of walking four legs robots are presented here. The specific features of the applied actuators in walking mechanisms are also shown in the article. The experience of Institute of Mechanics - BAS is illustrated in creation of Spiroid and Helicon1 gears and their assembly in actuation of studied robots. Loading on joints reductors of robot legs is modelled, when the geometrical and the walking parameters of the studied robot are preliminary defined. The obtained results are purposed for designing the control of the loading of reductor type Helicon in the legs of the robot, when it is experimentally tested.

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Luneckas, Mindaugas, Tomas Luneckas, Jonas Kriaučiūnas, Dainius Udris, Darius Plonis, Robertas Damaševičius, and Rytis Maskeliūnas. "Hexapod Robot Gait Switching for Energy Consumption and Cost of Transport Management Using Heuristic Algorithms." Applied Sciences 11, no. 3 (February 2, 2021): 1339. http://dx.doi.org/10.3390/app11031339.

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Due to the prospect of using walking robots in an impassable environment for tracked or wheeled vehicles, walking locomotion is one of the most remarkable accomplishments in robotic history. Walking robots, however, are still being deeply researched and created. Locomotion over irregular terrain and energy consumption are among the major problems. Walking robots require many actuators to cross different terrains, leading to substantial consumption of energy. A robot must be carefully designed to solve this problem, and movement parameters must be correctly chosen. We present a minimization of the hexapod robot’s energy consumption in this paper. Secondly, we investigate the reliance on power consumption in robot movement speed and gaits along with the Cost of Transport (CoT). To perform optimization of the hexapod robot energy consumption, we propose two algorithms. The heuristic algorithm performs gait switching based on the current speed of the robot to ensure minimum energy consumption. The Red Fox Optimization (RFO) algorithm performs a nature-inspired search of robot gait variable space to minimize CoT as a target function. The algorithms are tested to assess the efficiency of the hexapod robot walking through real-life experiments. We show that it is possible to save approximately 7.7–21% by choosing proper gaits at certain speeds. Finally, we demonstrate that our hexapod robot is one of the most energy-efficient hexapods by comparing the CoT values of various walking robots.

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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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4

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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Kodama, Ryoji, Toru Nogai, and Katsumi Suzuki. "Effect of the Motion in Horizontal Plane on the Stability of Biped Walking." Journal of Robotics and Mechatronics 5, no. 6 (December 20, 1993): 531–36. http://dx.doi.org/10.20965/jrm.1993.p0531.

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The human act of walking consists of 3-dimensional motion in the sagittal plane, frontal plane, and horizontal plane. However, in a lot of walking robots investigated by many researchers, motions were only considered in the sagittal plane or in the sagittal and frontal planes. If robot walking is modeled to real human walking, then motion in the horizontal plane should also be considered in robot walking. In this paper, our purpose is to investigate the effect of motion in the horizontal plane on biped walking robot. The authors study the effect using an inverse pendulum model. Firstly, we explain horizontal motion in human walking and analyze the walking motion of a robot model. The results of computer simulation are also presented.

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Zhou, Xuefeng, Yisheng Guan, Haifei Zhu, Wenqiang Wu, Xin Chen, Hong Zhang, and Yuli Fu. "Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control." International Journal of Humanoid Robotics 11, no. 02 (June 2014): 1450014. http://dx.doi.org/10.1142/s0219843614500145.

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Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome these shortcomings, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, four walking gaits are proposed, the criterion of stable walking is addressed and analyzed, and walking patterns and motion planning are presented. Experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration.

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TU, KUO-YANG, and MI-SHIN LIU. "PLANNING OF SAGITTAL GAIT OF BIPED ROBOTS BASED ON MINIMUM MOTION ENERGY." International Journal of Humanoid Robotics 07, no. 04 (December 2010): 635–67. http://dx.doi.org/10.1142/s0219843610002271.

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Traditional planning of biped robot walking patterns solves optimal trajectory for minimizing energy consumption. However, a diversity of biped robot walking functions lead to a variety of walking types. The walking patterns to implement a variety of biped robot objectives should have enough parameters to cope with their functions. In this article, walking patterns based on two 4-3-4 polynomials for the trajectories of biped robot waist and lower limb are proposed. The main advantage of the walking pattern is that 4-3-4 polynomials containing the parameters of acceleration and deceleration for biped walking make the implementation of a variety of walking types possible. In the study, the prototype mechanism of a biped robot is designed. After that, the direct and inverse kinematic equations of the biped robot are derived. For studying motion energy of biped robots, kinetic and potential energies are also defined. Based on these definitions, the parameters of the biped robot trajectories for minimum motion energy are solved. The solution is summarized by a development procedure. In addition, the study of zero moment point (ZMP) during the biped robot in walking is included.

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WU, XINYU, FULIANG LE, CHUNJIE CHEN, and YONGSHENG OU. "A MINI-WALKING ROBOT: ARCHITECTURE, ALGORITHM, AND SYSTEM." International Journal of Information Acquisition 07, no. 04 (December 2010): 319–30. http://dx.doi.org/10.1142/s0219878910002245.

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This paper describes an innovative mini-walking robot with Barbie's image. The most special feature of this walking robot is that its total weight and dimensions are expected to be lighter and smaller than other mini-walking robots. And the leg mechanism of the robot can work as smoothly as a human's with only one DOF. The model of this mini-walking robot can be expressed as a walking leg mechanism with a stick. The leg mechanism has been designed to avoid foot interference during walking; we ensure that more than one foot touches the ground all the time. The stick helps the robot move around stably; it supports most of the weight of the robot, and avoids overpressure on legs. Moreover, a dynamic structural model is developed in SimMechanism with toolboxes of Pro/Engineer to analyze parameters, which simulate leg mechanism, solve gait problems, and ensure that the gait of the robot can be more similar to humans. Finally, simulation results and real walking figures are given to verify the feasibility of the proposed mechanism and the real performance of this robot.

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Cheng, Pi Ying, Po Ying Lai, Cheng Li Hsieh, and Wei I. Lun. "Simulation Lower Limb Muscle Activation Patterns on Gait Rehabilitation Robot Device." Key Engineering Materials 649 (June 2015): 60–65. http://dx.doi.org/10.4028/www.scientific.net/kem.649.60.

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Rehabilitation robot is usefully to improves walking ability on patients with gait disorders. Over the last decade, rehabilitation robot device replaced the training of overground and treadmill. The purpose of this study was to compare the differences in muscles activities of simulated human leg while walking on two gait rehabilitation robots: the exoskeleton rehabilitation robot and the end-effector rehabilitation robot. We have built models of simulated human leg, exoskeleton rehabilitation robot and end-effector rehabilitation robot. The results showed that rectus femoris and tibialis anterior muscles of the simulated human leg were more active while walking on the exoskeleton rehabilitation robot. The results of this study may provide technical improvement for gait rehabilitation robots, so that lower limb muscles movement can be more correctly achieved for normal individuals during gait rehabilitation training.

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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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Dissertations / Theses on the topic "Walking robot"

1

Mamrak, Justin. "MARK II a biologically-inspired walking robot /." Ohio : Ohio University, 2008. http://www.ohiolink.edu/etd/view.cgi?ohiou1226694264.

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Chen, Zhongkai. "Optimized Walking of an 8-link 3D Bipedal Robot." Thesis, Paris, ENSAM, 2015. http://www.theses.fr/2015ENAM0027/document.

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D'un point de vue énergétique, les robots marcheurs sont moins performants que les humains. Face à ce défi, cette thèse propose une approche pour contrôler et optimiser les allures de marche des robots bipèdes à la fois en 2D et 3D en considérant les fréquences propres du robot et par ajout de ressorts. L'étude porte essentiellement sur un robot bipède 2D à 5 corps et des pieds ponctuels ainsi qu'un robot bipède 3D à 8 corps avec des pieds sans masse à contact linéique. La commande en boucle fermée considérée est basée sur la méthode des contraintes virtuelles et la linéarisation par retour d'état. Suite à des études précédentes, la stabilité du robot bipède 2D est vérifiée par une section de Poincaré unidimensionnelle et étendue au robot bipède 3D à contact linéique avec le sol. L'optimisation est effectuée en utilisant la programmation quadratique séquentielle. Les paramètres optimisés incluent des coefficients de polynômes de Bézier et des paramètres posturaux. Des contraintes d'optimisation sont imposées pour assurer la validité de l'allure de marche. Pour le robot bipède 2D, deux configurations différentes de ressorts placés aux hanches sont étudiées. Ces deux configurations ont permis de réduire le coût énergétique. Pour le robot bipède 3D, les paramètres d'optimisation sont séparés en deux parties : ceux décrivant le mouvement dans le plan sagittal et ceux du plan frontal. Les résultats de l'optimisation montrent que ces deux types de paramètres doivent être optimisés. Ensuite, des ressorts sont ajoutés respectivement par rapport au plan sagittal, par rapport au plan frontal puis dans les deux plans. Les résultats montrent que l'ajout des ressorts dans le plan sagittal permet de réduire significativement le coût énergétique et que l'association de ressorts dans le plan frontal améliore encore plus la consommation d'énergie
From an energy standpoint, walking robots are less efficient than humans. In facing this challenge, this study aims to provide an approach for controlling and optimizing the gaits of both 2D and 3D bipedal robots with consideration for exploiting natural dynamics and elastic couplings. A 5-link 2D biped with point feet and an 8-link 3D biped with massless line feet are studied. The control method is based on virtual constraints and feedback linearization. Following previous studies, the stability of the 2D biped is verified by computing scalar Poincaré map in closed form, and now this method also applies to the 3D biped because of its line-foot configuration. The optimization is performed using sequential quadratic programming. The optimization parameters include postural parameters and Bézier coefficients, and the optimization constraints are used to ensure gait validity. For the 2D biped, two different configurations of hip joint springs are investigated and both configurations successfully reduce the energy cost. For the 3D biped, the optimization parameters are further divided into sagittal parameters and coronal parameters, and the optimization results indicate that both these parameters should be optimized. After that, hip joint springs are added respectively to the sagittal plane, the coronal plane and both these planes. The results demonstrate that the elastic couplings in the sagittal plane should be considered first and that the additional couplings in the coronal plane reduce the energy cost even further

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Krajíček, Lukáš. "Implementace řídicích členů pro mobilní kráčivý robot." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230071.

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This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and geometrics independent representation, which allow to use them for different robot types and tasks. In this thesis the contact controller is designed, which minimizes residual forces and torques at the robot's center of gravity, and thereby stabilize robot's body. Next the thesis deals with a posture controller, which maximizes a heuristic posture measure to optimize posture of robot body. Because of this optimization, legs are moved away from their limits and therefore they have more working space for next move. Implementation of the chosen solution is made on the robot's MATLAB mathematical model. Controllers are composed into a control basis, that allows to solve general control tasks by simultaneous combination of contained controllers. The algorithm was created for that simultaneous activation and its operation was explained on flow charts.

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Geng, Tao. "Fast biped walking with a neuronal controller and physical computation." Thesis, University of Stirling, 2007. http://hdl.handle.net/1893/141.

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Biped walking remains a difficult problem and robot models can greatly {facilitate} our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network, which is governed mainly by local sensor signals. This study shows that human-like gaits emerge without {specific} position or trajectory control and that the walker is able to compensate small disturbances through its own dynamical properties. The reflexive controller used here has the following characteristics, which are different from earlier approaches: (1) Control is mainly local. Hence, it uses only two signals (AEA=Anterior Extreme Angle and GC=Ground Contact) which operate at the inter-joint level. All other signals operate only at single joints. (2) Neither position control nor trajectory tracking control is used. Instead, the approximate nature of the local reflexes on each joint allows the robot mechanics itself (e.g., its passive dynamics) to contribute substantially to the overall gait trajectory computation. (3) The motor control scheme used in the local reflexes of our robot is more straightforward and has more biological plausibility than that of other robots, because the outputs of the motorneurons in our reflexive controller are directly driving the motors of the joints, rather than working as references for position or velocity control. As a consequence, the neural controller and the robot mechanics are closely coupled as a neuro-mechanical system and this study emphasises that dynamically stable biped walking gaits emerge from the coupling between neural computation and physical computation. This is demonstrated by different walking experiments using two real robot as well as by a Poincar\' map analysis applied on a model of the robot in order to assess its stability. In addition, this neuronal control structure allows the use of a policy gradient reinforcement learning algorithm to tune the parameters of the neurons in real-time, during walking. This way the robot can reach a record-breaking walking speed of 3.5 leg-lengths per second after only a few minutes of online learning, which is even comparable to the fastest relative speed of human walking.

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Erden, Mustafa Suphi. "Six-legged Walking Machine: The Robot-ea308." Phd thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607356/index.pdf.

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The work presented in this thesis aims to make contribution to the understanding and application of six-legged statically stable walking machines in both theoretical and practical levels. In this thesis five pieces of work, performed with and for the three-joint six-legged Robot-EA308, are presented: 1) Standard gaits, which include the well-known wave gaits, are defined and a stability analysis, in the sense of static stable walking, is performed on an analytical level. Various definitions are given
theorems are stated and proved. 2) A free gait generation algorithm with reinforcement learning is developed. Its facilities of stability improvement, smooth speed changes, and adaptation in case of a rear-leg deficiency with learning of five-legged walking are experimented in real-time on the Robot-EA308. 3) Trajectory optimization and controller design is performed for the protraction movement of a three-joint leg. The trajectory generated by the controller is demonstrated with the Robot-EA308. 4) The full kinematic-dynamic formulation of a three-joint six-legged robot is performed with the joint-torques being the primary variables. It is demonstrated that the proposed torque distribution scheme, rather than the conventional force distribution, results in an efficient distribution of required forces and moments to the supporting legs. 5) An analysis of energy efficiency is performed for wave gaits. The established strategies for determination of gait parameters for an efficient walk are justified using the Robot-EA308.

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au, shiqi peng@woodside com, and Shiqi Peng. "A Biologically Inspired Four Legged Walking Robot." Murdoch University, 2006. http://wwwlib.murdoch.edu.au/adt/browse/view/adt-MU20070115.113710.

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This Ph.D. thesis presents the design and implementation of a biologically inspired four-phase walking strategy using behaviours for a four legged walking robot. In particular, the walking strategy addresses the balance issue, including both static and dynamic balance that were triggered non-deterministically based on the robots realtime interaction with the environment. Four parallel Subsumption Architectures (SA) and a simple Central Pattern Producer (CPP) are employed in the physical implementation of the walking strategy. An implementation framework for such a parallel Subsumption Architecture is also proposed to facilitate the reusability of the system. A Reinforcement Learning (RL) method was integrated into the CPP to allow the robot to learn the optimal walking cycle interval (OWCI), appropriate for the robot walking on various terrain conditions. Experimental results demonstrate that the robot employs the proposed walking strategy and can successfully carry out its walking behaviours under various experimental terrain conditions, such as flat ground, incline, decline and uneven ground. Interactions of all the behaviours of the robot enable it to exhibit a combination of both preset and emergent walking behaviours.

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Peng, Shiqi. "A biologically inspired four legged walking robot." Peng, Shiqi (2006) A biologically inspired four legged walking robot. PhD thesis, Murdoch University, 2006. http://researchrepository.murdoch.edu.au/255/.

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This Ph.D. thesis presents the design and implementation of a biologically inspired four-phase walking strategy using behaviours for a four legged walking robot. In particular, the walking strategy addresses the balance issue, including both static and dynamic balance that were triggered non-deterministically based on the robot's realtime interaction with the environment. Four parallel Subsumption Architectures (SA) and a simple Central Pattern Producer (CPP) are employed in the physical implementation of the walking strategy. An implementation framework for such a parallel Subsumption Architecture is also proposed to facilitate the reusability of the system. A Reinforcement Learning (RL) method was integrated into the CPP to allow the robot to learn the optimal walking cycle interval (OWCI), appropriate for the robot walking on various terrain conditions. Experimental results demonstrate that the robot employs the proposed walking strategy and can successfully carry out its walking behaviours under various experimental terrain conditions, such as flat ground, incline, decline and uneven ground. Interactions of all the behaviours of the robot enable it to exhibit a combination of both preset and emergent walking behaviours.

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8

Angle, Colin. "Genghis, a six legged autonomous walking robot." Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14531.

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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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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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Books on the topic "Walking robot"

1

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

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2

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

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King, Ralf Simon. BiLBIQ: A Biologically Inspired Robot with Walking and Rolling Locomotion. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013.

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King, Ralf Simon. BiLBIQ: A Biologically Inspired Robot with Walking and Rolling Locomotion. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-34682-8.

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Kristiansen, Karl Johann Ragnar Wrussell. A computer simulation of vehicle and actuator dynamics for a hexapod walking robot. Monterey, Calif: Naval Postgraduate School, 1994.

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Davidson, Sandra Lynne. An experimental comparison of CLOS and C + + implementations of an object-oriented graphical simulation of walking robot kinematics. Monterey, Calif: Naval Postgraduate School, 1993.

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Armada, Manuel A., and Pablo de González Santos. Climbing and Walking Robots. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9.

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Tokhi, M. O., G. S. Virk, and M. A. Hossain, eds. Climbing and Walking Robots. Berlin/Heidelberg: Springer-Verlag, 2006. http://dx.doi.org/10.1007/b137546.

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Tokhi, M. O., G. S. Virk, and M. A. Hossain, eds. Climbing and Walking Robots. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9.

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

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Book chapters on the topic "Walking robot"

1

Schwienbacher, Markus, Valerio Favot, Thomas Buschmann, Sebastian Lohmeier, and Heinz Ulbrich. "Walking Humanoid Robot Lola." In Autonome Mobile Systeme 2009, 267–74. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-10284-4_34.

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Tedeschi, Franco, and Giuseppe Carbone. "Hexapod Walking Robot Locomotion." In Motion and Operation Planning of Robotic Systems, 439–68. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-14705-5_15.

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Krasny, Darren P., and David E. Orin. "A 3D Galloping Quadruped Robot." In Climbing and Walking Robots, 467–74. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_56.

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Granosik, G., and J. Borenstein. "Pneumatic Actuators for Serpentine Robot." In Climbing and Walking Robots, 719–26. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_86.

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Xie, Ming. "Robot Vision: A Holistic View." In Climbing and Walking Robots, 1–38. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_1.

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Ylönen, S., M. Heikkilä, and P. Virekoski. "Interactions Between Human and Robot — Case Study: WorkPartner-Robot in the ISR 2004 Exhibition." In Climbing and Walking Robots, 1091–96. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_107.

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Mahalu, G., A. Graur, and V. Popa. "Bus Communication in Robot System Control." In Climbing and Walking Robots, 229–36. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_27.

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Granosik, G., and M. Kaczmarski. "Bellows Driven, Muscle Steered Caterpillar Robot." In Climbing and Walking Robots, 743–50. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_89.

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Fujiki, N., Y. Mae, T. Umetani, T. Arai, T. Takubo, and K. Inoue. "Limb-Mechanism Robot with Winch Mechanism." In Climbing and Walking Robots, 305–12. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_28.

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Pardos, J. M., and C. Balaguer. "Humanoid Robot Kinematics Modeling Using Lie Groups." In Climbing and Walking Robots, 569–75. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_56.

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Conference papers on the topic "Walking robot"

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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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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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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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Hanazawa, Yuta, Hiroyuki Suda, Yu Iemura, and Masaki Yamakita. "Active walking robot mimicking flat-footed passive dynamic walking." In 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2012. http://dx.doi.org/10.1109/robio.2012.6491146.

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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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Kapustik, I., J. Hudec, and P. Navrat. "Stabilized walking for Nao robot." In 2015 IEEE 13th International Symposium on Applied Machine Intelligence and Informatics (SAMI). IEEE, 2015. http://dx.doi.org/10.1109/sami.2015.7061858.

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ALISEYCHIK, A., I. ORLOV, E. STEPANOVA, and VLADIMIR PAVLOVSKY. "WHEEL-WALKING PNEUMATICALLY ACTUATED ROBOT." In 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2014. http://dx.doi.org/10.1142/9789814623353_0019.

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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 "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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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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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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Miller, W. T., and III. Adaptive Dynamic Balance of Two and Four Legged Walking Robots. Fort Belvoir, VA: Defense Technical Information Center, June 1996. http://dx.doi.org/10.21236/ada324602.

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Miller, W. T., and III. Adaptive Dynamic Balance of Two and Four Legged Walking Robots. Fort Belvoir, VA: Defense Technical Information Center, October 1995. http://dx.doi.org/10.21236/ada312263.

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Pei, Qibing, Marcus Rosenthal, Ron Pelrine, Scott Stanford, and Roy Kornbluh. Multifunctional Electroelastomer Roll Actuators and Their Application for Biomimetic Walking Robots. Fort Belvoir, VA: Defense Technical Information Center, January 2003. http://dx.doi.org/10.21236/ada525719.

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