Journal articles: '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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

2

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

3

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

5

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

6

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

7

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

8

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

9

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

10

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

11

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

12

FUJIOKA, Toru, Hisashi OSUMI, and Ryosuke NAKAMURA. "1A1-P02 Curved Walking for Quadruped Robots(Walking Robot (1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _1A1—P02_1—_1A1—P02_4. http://dx.doi.org/10.1299/jsmermd.2013._1a1-p02_1.

Full text

APA, Harvard, Vancouver, ISO, and other styles

13

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

14

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

15

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

16

Moschetti, Alessandra, Filippo Cavallo, Dario Esposito, Jacques Penders, and Alessandro Di Nuovo. "Wearable Sensors for Human–Robot Walking Together." Robotics 8, no. 2 (May 15, 2019): 38. http://dx.doi.org/10.3390/robotics8020038.

Full text

Abstract:

Thanks to recent technological improvements that enable novel applications beyond the industrial context, there is growing interest in the use of robots in everyday life situations. To improve the acceptability of personal service robots, they should seamlessly interact with the users, understand their social signals and cues and respond appropriately. In this context, a few proposals were presented to make robots and humans navigate together naturally without explicit user control, but no final solution has been achieved yet. To make an advance toward this end, this paper proposes the use of wearable Inertial Measurement Units to improve the interaction between human and robot while walking together without physical links and with no restriction on the relative position between the human and the robot. We built a prototype system, experimented with 19 human participants in two different tasks, to provide real-time evaluation of gait parameters for a mobile robot moving together with a human, and studied the feasibility and the perceived usability by the participants. The results show the feasibility of the system, which obtained positive feedback from the users, giving valuable information for the development of a natural interaction system where the robot perceives human movements by means of wearable sensors.

APA, Harvard, Vancouver, ISO, and other styles

17

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.

Full text

Abstract:

[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.

APA, Harvard, Vancouver, ISO, and other styles

18

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

19

Takuma, Takashi, and Koh Hosoda. "Terrain Negotiation of a Compliant Biped Robot Driven by Antagonistic Artificial Muscles." Journal of Robotics and Mechatronics 19, no. 4 (August 20, 2007): 423–28. http://dx.doi.org/10.20965/jrm.2007.p0423.

Full text

Abstract:

Human beings realize adaptive bipedal walking negotiating different terrain, which is still difficult for biped robots driven by electric motors. We developed a biped robot driven by antagonistic artificial muscles that negotiates several types of terrain. Antagonistic muscles combined with a simple feed-forward controller realize joint compliance without a time delay, enabling the robot to adapt to terrain changes and to sense terrain because walking behavior results from interaction between robot dynamics and the terrain. Experimental results demonstrate that the walking cycle changes based on joint compliance and the type of terrain. Using the relationship between the two, the robot regulates its walking cycle by changing its joint compliance. The compliance by such antagonistic muscles is a promising solution for realizing adaptive bipedal walking.

APA, Harvard, Vancouver, ISO, and other styles

20

TANAMACHI, Shinya, Takashi SONODA, and Kazuo ISHII. "2A2-C02 Research for Omni-directional Walking Robot(Walking Robot)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (2011): _2A2—C02_1—_2A2—C02_2. http://dx.doi.org/10.1299/jsmermd.2011._2a2-c02_1.

Full text

APA, Harvard, Vancouver, ISO, and other styles

21

Pan, Yang, Feng Gao, and Hui Du. "Fault tolerance criteria and walking capability analysis of a novel parallel-parallel hexapod break walking robot." Robotica 34, no. 3 (July 9, 2014): 619–33. http://dx.doi.org/10.1017/s0263574714001738.

Full text

Abstract:

SUMMARYFault tolerance is a very important issue for legged robots, especially in some harsh environments. One of the most fragile parts is the actuation system. There are two common faults of robot actuators: (1) the motor is locked and could not move anymore; (2) the motor is uncontrollable and can be treated as a passive joint. In this paper, we first discuss all fault combinations of a single leg of a hexapod walking robot with parallel-parallel mechanism topology. Then, the leg tolerable criterion is brought out, which defines whether a leg is fault tolerant. After that, the fault tolerance of the whole robot is researched, and we found that the robot can walk with one tolerable leg or two opposite tolerable legs. Finally, relative simulation results are given, which show the robot walk with one or two broken legs.

APA, Harvard, Vancouver, ISO, and other styles

22

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

23

Mamiya, Shotaro, Shigenori Sano, and Naoki Uchiyama. "Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification." Journal of Robotics and Mechatronics 28, no. 6 (December 20, 2016): 799–807. http://dx.doi.org/10.20965/jrm.2016.p0799.

Full text

Abstract:

[abstFig src='/00280006/03.jpg' width='300' text='Robotic foot adaptable to rough terrain' ] Practical ambulation must be realized by walking robots to enable social and industrial support by walking robots in human living environments. A four-legged robot that walks through rough terrain effectively does not erase the fact that most legged robots – particularly biped robots – have difficulty negotiating rough terrain. We focus below on a foot structure and landing control for enabling any type of legged robot to walk through rough terrain. When a walking robot lands on the ground, it is difficult to detect the detailed geometry and dynamic properties of the ground surface. The new foot structure we propose adapts to ground surfaces that have different geometries and hardness. The foot has four-part flat soles. The landing controller we apply to a robot with our proposed foot structure increases the stability of contact with the ground. We verify the effectiveness of our proposed foot structure in experiments.

APA, Harvard, Vancouver, ISO, and other styles

24

Hirukawa, Hirohisa. "Walking biped humanoids that perform manual labour." Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences 365, no. 1850 (November 17, 2006): 65–77. http://dx.doi.org/10.1098/rsta.2006.1916.

Full text

Abstract:

The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms, consisting of humanoid robot hardware and a package of fundamental software, and explored applications of humanoid robots on them. The applications include maintenance tasks of industrial plants, teleoperation of industrial vehicles, cooperative tasks with a human, guarding the home and office and the care of patients in beds.

APA, Harvard, Vancouver, ISO, and other styles

25

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

26

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

27

Yang, Jung-Min. "Gait synthesis for hexapod robots with a locked joint failure." Robotica 23, no. 6 (November 2005): 701–8. http://dx.doi.org/10.1017/s0263574705001578.

Full text

Abstract:

This paper presents a strategy for generating fault-tolerant gaits of hexapod walking robots. A multi-legged robot is considered to be fault-tolerant with respect to a given failure if it is capable of continuing its walking after the occurrence of a failure, maintaining its static stability. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. The kinematic condition for the existence of fault-tolerant gaits is derived for straight-line walking of a hexapod robot on even terrain. An algorithm for generating fault-tolerant gaits is described and, especially, periodic gaits are presented for forward walking of a hexapod robot with a locked joint failure. The leg sequence and the stride length formula are analytically driven based on gait study and robot kinematics. A case study on post-failure walking of a hexapod robot with the wave gait is shown to demonstrate the applicability of the proposed method.

APA, Harvard, Vancouver, ISO, and other styles

28

Abdul Kareem, Ali Fawzi, and Ahmed Abdul Hussein Ali. "Simulation and Experimental Walking Pattern Generation for Two Types of Degrees of Freedom Bipedal Locomotion Robot." Journal of Engineering 26, no. 12 (December 1, 2020): 1–20. http://dx.doi.org/10.31026/j.eng.2020.12.01.

Full text

Abstract:

Humanoids or bipedal robots are other kinds of robots that have legs. The balance of humanoids is the general problem in these types when the other in the support phase and the leg in the swing phase. In this work, the walking pattern generation is studied by MATLAB for two types of degrees of freedom, 10 and 17 degrees of freedom. Besides, the KHR-2HV simulation model is used to simulate the experimental results by Webots. Similarly, Arduino and LOBOT LSC microcontrollers are used to program the bipedal robot. After the several methods for programming the bipedal robot by Arduino microcontroller, LOBOT LSC-32 driver model is the better than PCA 96685 Driver-16 channel servo driver for programming the bipedal walking robot. The results showed that this driver confirms the faster response than the Arduino microcontroller in walking the bipedal robot. The walking pattern generation results showed that the step height for 17 degrees of freedom bipedal robot increases approximately (20%) than 10 degrees of freedom bipedal robot, which decreases the step period by about (7%). Also, the time interval of the double support phase for 17 degrees of freedom bipedal robot increases approximately (11%) with decreases step length approximately (33% on X-axis) and (16% on Z-axis).

APA, Harvard, Vancouver, ISO, and other styles

29

Vatau, Steliana, Valentin Ciupe, and Inocentiu Maniu. "Java Simulator for Quadruped Walking Robot." Solid State Phenomena 166-167 (September 2010): 445–50. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.445.

Full text

Abstract:

With advances in science and technology, the interest to study the animals walking has developed the demand for building the legged robots. Physics-based simulation and control of quadruped locomotion is difficult because quadrupeds are unstable, under actuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning). The application named JQuadRobot is developed in Java and Java3D API. A Graphical User Interface and a simulator for a custom quadruped leg's robot and the main features of the interface are presented in this paper. This application is developed in Java and is essential in a development motion for legged robot. The friendly interface, allows any user to define and test movements for this robot. The cross-platform capability was the first reason to choose Java language for developing this application.

APA, Harvard, Vancouver, ISO, and other styles

30

Bruneau, O., and F. B. Ouezdou. "Distributed ground/walking robot interaction." Robotica 17, no. 3 (May 1999): 313–23. http://dx.doi.org/10.1017/s0263574799001290.

Full text

Abstract:

Most of the time, the construction of legged robots is made in an empirical way and the optimization of the mechanical structure is seldom taken into account. In order to avoid spending time and money on the construction of many prototypes to test their performance, a CAD tool and a methodology seem to be necessary. In this way it will be possible to optimize on one hand the kinematic structure of the legs, on the other hand the gaits which will be used by the future robot. Thus, we have developed a methodology to design walking structures such as quadrupeds and bipeds, to simulate their dynamic behavior and analyse their performances. The feet/ground interaction is one of the major problem in the context of dynamic simulation for walking devices. Thus, we focus here about the phenomenon of contact. This paper describes a general model for dynamic simulation of contacts between a walking robot and ground. This model considers a force distribution and uses an analytical form for each force depending only on the known state of the robot system. The simulation includes all phenomena that may occur during the locomotion cycle: impact, transition from impact to contact, contact during support with static friction, transition from static to sliding friction, sliding friction and transition from sliding to static friction. Some examples are presented to show the use of this contact model for the simulation of the foot-ground interaction during a walking gait.

APA, Harvard, Vancouver, ISO, and other styles

31

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.

Full text

Abstract:

[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.

APA, Harvard, Vancouver, ISO, and other styles

32

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

33

Ghanbari, Ahmad, S. Mohammad Reza S. Noorani, Hamid HajiMohammadi, and Aida Parvaresh. "Toward Realization a 7-Links Biped Robot - Trajectory Generation." Advanced Materials Research 816-817 (September 2013): 712–16. http://dx.doi.org/10.4028/www.scientific.net/amr.816-817.712.

Full text

Abstract:

Naturalistic walking is one of the most important purposes of researches on biped robots. A feasible way is to translate the understanding of human walking to robot walking. One of the options that affects the quality of motion in a biped robot is concerned with trajectory generation. So, in this paper it's focused on trajectory generation methods for implementing a 7-links planar walker biped robot. Also, this model is simulated by VisualNastran software package and run according to a Clinical Gait Analysis (CGA) reference that has been modified for a planar model. Lastly, the results of simulation are reported.

APA, Harvard, Vancouver, ISO, and other styles

34

Wang, Liang Wen, Wei Gang Tang, Xin Jie Wang, and Xue Wen Chen. "Computer Aided Geometric Method of Forward Kinematics Analysis of Multi-Legged Walking Robots." Advanced Materials Research 317-319 (August 2011): 829–34. http://dx.doi.org/10.4028/www.scientific.net/amr.317-319.829.

Full text

Abstract:

The high order equation causing by analytic method in multi-legged robot forward kinematics analysis may have imaginary root, repeated root, extraneous root or even lost solution. A system based on the theory of computer aided geometric method is proposed. Consideration with the internal structural constraint relations of multi-legged walking robots, the solidworks model was constructed and Visual Basic develop platform was adopted to fulfill the secondary development of solidworks. A system of forward kinematics analysis of multi-legged walking robots is established. The example validates that the system is simple and effective for all reptiles-like quadruped walking robot.

APA, Harvard, Vancouver, ISO, and other styles

35

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

36

Lee, Han-Sol, Yong-Uk Jeon, In-Seong Lee, Jin-Yong Jeong, Manh Cuong Hoang, Ayoung Hong, Eunpyo Choi, Jong-Oh Park, and Chang-Sei Kim. "Wireless Walking Paper Robot Driven by Magnetic Polymer Actuator." Actuators 9, no. 4 (October 30, 2020): 109. http://dx.doi.org/10.3390/act9040109.

Full text

Abstract:

Untethered small-scale soft robots have been widely researched because they can be employed to perform wireless procedures via natural orifices in the human body, or other minimally invasive operations. Nevertheless, achieving untethered robotic motion remains challenging owing to the lack of an effective wireless actuation mechanism. To overcome this limitation, we propose a magnetically actuated walking soft robot based on paper and a chained magnetic-microparticle-embedded polymer actuator. The magnetic polymer actuator was prepared by combining Fe3O4 magnetic particles (MPs, diameter of ~50 nm) and silicon that are affected by a magnetic field; thereafter, the magnetic properties were quantified to achieve proper force and optimized according to the mass ratio, viscosity, and rotational speed of a spin coater. The fabricated polymer was utilized as a soft robot actuator that can be controlled using an external magnetic field, and paper was employed to construct the robot body with legs to achieve walking motion. To confirm the feasibility of the designed robot, the operating capability of the robot was analyzed through finite element simulation, and a walking experiment was conducted using electromagnetic actuation. The soft robot could be moved by varying the magnetic flux density and on–off state, and it demonstrated a maximum moving speed of 0.77 mm/s. Further studies on the proposed soft walking robot may advance the development of small-scale robots with diagnostic and therapeutic functionalities for application in biomedical fields.

APA, Harvard, Vancouver, ISO, and other styles

37

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

38

Yoneda, Kan, Yusuke Ota, Fumitoshi Ito, and Shigeo Hirose. "Quadruped Walking Robot with Reduced Degrees of Freedom." Journal of Robotics and Mechatronics 13, no. 2 (April 20, 2001): 190–97. http://dx.doi.org/10.20965/jrm.2001.p0190.

Full text

Abstract:

We advocate the effectiveness of a walking robot to have a structure with a reduced DOF, not based on a model of real animals, to make the robot lightweight and practical, and discuss a technique for reducing the active degrees of freedom (DOF) of a quadruped walking robot as an example for realizing such objectives. If functions required of a quadruped walking robot are properly organized and the required active DOF is examined, 4 active DOF make it possible to select an arbitrary position on uneven terrain and to move in all directions. We describe a mechanism with 4 active DOF and 2 passive DOF as an example of concrete configurations for quadruped walking robots with 4 active DOF. A robot with a reduced active DOF, namely with 3 active DOF and 2 passive DOF, has a capability to reach an arbitrary position at an arbitrary angle on uneven terrain. An actual mechanical model was manufactured as an experimental model, and a walking experiment was conducted. The mechanical model turned out to be about one-4th in weight compared to a conventional biomimetic model of the same size. Based on the walking experiment, it was confirmed that this mechanical model can carry a load up to 4 times its own weight.

APA, Harvard, Vancouver, ISO, and other styles

39

Furusho, Junji, and Akihito Sano. "Special Issue on Legged Locomotion." Journal of Robotics and Mechatronics 5, no. 6 (December 20, 1993): 497. http://dx.doi.org/10.20965/jrm.1993.p0497.

Full text

Abstract:

Walking is a form of locomotion that is gentle to the environment, and by means of this action, it is possible to move through a variety of environments. In other words, the system of locomotion called walking allows a mover to go through almost any environment while choosing landing points for providing better supporting points, without hurting the environment. On the other hand, the smooth locomotion by wheel is possible only when a road is created by giving a human touch to the natural environment. Moreover, the crawler system using caterpillars creates problems such as the floors and stairs being hurt or the pipes laid on the floors being crushed, although it does have huge locomotive capacity. In addition, a robot capable of working on the bottom of the sea is now desired. However, the use of a screw as a system of locomotion for the robot would create the problem of stirring up various deposits on the bottom and thereby losing its field of vision. Against this background, a large number of walking robots have been developed in recent years for work inside nuclear power plants, the exploration of planets, work on the sea bottom, and work inside forests. In particular, a six-legged robot by Ohio State University, a 6-legged robot for the exploration of Mars by Carnegie Mellon University, and a bi-armed quadruped robot for extreme work created in Japan have all been developed under large walking robot development projects. Because of these large-scale projects, the studies on walking robots have shown remarkable progress in recent years. On the other hand, the investigation from the points of view of control engineering and robotics of how walking controls are performed by the humans and animals presents a very interesting subject, and accordingly a great many studies are being conducted. The normal walking that the humans and animals do forms stable locomotion as a whole by repeating unstable locomotion. In other words, the walking with its static stability constantly maintained is hardly done except in the case of very slow walking. Studies on such dynamic walking have been started relatively recently, and the elucidation of this type of walking has been very fragmentary. In addition, studies for realizing such walking (or running) by robots have been started only very recently, and are therefore at an initial stage as yet. The studies concerning walking by the humans and animals have been carried out, on one hand, from the point of view of dynamics and, on the other hand, from the point of view of trying to make clear how the nervous systems and control circuits which support walking are composed and what operational mechanisms they have. From the latter point of view, studies concerning the pattern generator of walking motion and studies on walk controls using neural networks have increased sharply in recent years. Thus, to have made plans for a special issue on walking robots at this point in time is considered most opportune. Deep appreciation is expressed to those researchers who have contributed their papers to this special issue, and it is hoped, moreover, that the special issue will provide contributions to future studies on walking robots.

APA, Harvard, Vancouver, ISO, and other styles

40

Hashimoto, Kenji, Yusuke Sugahara, Hun-Ok Lim, and Atsuo Takanishi. "Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment." Journal of Robotics and Mechatronics 20, no. 5 (October 20, 2008): 775–84. http://dx.doi.org/10.20965/jrm.2008.p0775.

Full text

Abstract:

Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the control algorithms used difficult to apply to biped walking robots intended to transport human users. The “landing pattern modification method” we propose is based on nonlinear admittance control. Theoretical compliance displacement calculated from walking patterns is compared to actual compliance displacement, when a robot's foot contacts slightly uneven terrain. Terrain height is detected and the preset walking pattern is modified accordingly. The new biped foot we also propose forms larger support polygons on uneven terrain than conventional biped foot systems do. Combining our new modification method and foot, a human-carrying biped robot can traverse uneven terrain, as confirmed in walking experiments.

APA, Harvard, Vancouver, ISO, and other styles

41

Xhevahir, Bajrami, Shala Ahmet, Hoxha Gezim, and Likaj Rame. "Dynamic Modelling and Analyzing of a Walking of Humanoid Robot." Strojnícky casopis – Journal of Mechanical Engineering 68, no. 3 (November 1, 2018): 59–76. http://dx.doi.org/10.2478/scjme-2018-0027.

Full text

Abstract:

AbstractThis paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.

APA, Harvard, Vancouver, ISO, and other styles

42

Cao, Ying, Soichiro Suzuki, and Yohei Hoshino. "Uphill and level walking of a three-dimensional biped quasi-passive walking robot by torso control." Robotica 34, no. 3 (July 15, 2014): 483–96. http://dx.doi.org/10.1017/s0263574714001593.

Full text

Abstract:

SUMMARYPassive walking robots can walk on a slight downward slope powered only by gravity. We propose a novel control strategy based on forced entrainment to stabilize a three-dimensional quasi-passive walking robot in uphill and level walking by using torso control in the frontal plane and synchronization of lateral motion with swing leg motion. We investigated the robot's walking energy efficiency, energy transformation, and transfer in simulation. The results showed that the proposed method is effective and energy-efficient for uphill and level walking. The relationship between energy utilization rate of actuation and energy efficiency of the robot was revealed, and mechanical energy transformation and transfer were characterized.

APA, Harvard, Vancouver, ISO, and other styles

43

Yumaryanto, Abdul A., Jae Bum An, and Li Li Xin. "A Piezoelectrically Actuated Biomimetic Walking Robot." Key Engineering Materials 326-328 (December 2006): 1435–38. http://dx.doi.org/10.4028/www.scientific.net/kem.326-328.1435.

Full text

Abstract:

In this paper we present the design and prototype of a six-legged walking robot which uses Lightweight Piezoceramic Composite curved Actuator (LIPCA) as its actuator. LIPCA consists of multiple layers of glass/epoxy and carbon/epoxy that encapsulate a unimorph piezoelectric ceramic actuator. It uses lightweight fiber-reinforced plastic layers, and it is a lighter structure and generates a higher force and a larger displacement than other conventional piezo-composite type actuators. Like most six-legged walking insects including cockroaches, our robot uses the alternating tripod gait where the front and rear legs on the same side move together with the middle leg on the other side for its locomotion. Two LIPCA strips in different phases are used for actuating each tripod so that only one tripod may touch the ground ensuring static stability while walking. All the experiments with the prototype show that LIPCA can be used as an alternative actuator for small and light mobile robots.

APA, Harvard, Vancouver, ISO, and other styles

44

Doroftei, Ioan, and Florentina Adăscălitei. "A Hexapod Walking Micro-Robot with Compliant Legs." Applied Mechanics and Materials 162 (March 2012): 234–41. http://dx.doi.org/10.4028/www.scientific.net/amm.162.234.

Full text

Abstract:

The conventional mechanisms with stiff joints make the robots more complex, heavy, large and expensive. As walking robots are requested to perform tasks in rough terrain, the development of actuators capable to flexibly adapt to the unstructured environment becomes more and more necessary. Biological mechanisms like legs with high effectiveness and developing high forces are very common in nature. This is why introducing such structures in robotics is one of the most popular research in biomimetics. A wide variety of artificial muscles as actuators in robotics have been investigated till now. Shape Memory Alloys are a category of such artificial muscles which can be used as actuators in the structure of a biomimetic walking robot. In this paper, mechanisms that can convert the small strain of a SMA wire into large motion, used as legs for a hexapod walking micro-robot, are discussed.

APA, Harvard, Vancouver, ISO, and other styles

45

AHMAD NAJMUDDIN, Ibrahim, Eiki ISHIJIMA, and Yasuhiro FUKUOKA. "2A1-T01 Realization of bipedal robot walking on uneven surface by utilizing stiffness-variable foot sole mechanism(Walking Robot(1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _2A1—T01_1—_2A1—T01_4. http://dx.doi.org/10.1299/jsmermd.2012._2a1-t01_1.

Full text

APA, Harvard, Vancouver, ISO, and other styles

46

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

47

Lee, Kinam, Young-Jae Ryoo, Kyung-Seok Byun, and Jaeyoung Choi. "Omni-Directional Walking Pattern Generator for Child-Sized Humanoid Robot, CHARLES2." International Journal of Humanoid Robotics 14, no. 02 (March 9, 2017): 1750004. http://dx.doi.org/10.1142/s0219843617500049.

Full text

Abstract:

In this paper, we propose an omni-directional walking pattern generator to make a child-sized humanoid robot walk in any direction. The proposed omni-directional walking pattern generator creates walking patterns for which zero moment point (ZMP) is located on the center of the supporting foot. For humanoid robots to adapt to human’s life and perform missions, it should be taller than the minimum height of a child. In this paper, we designed a humanoid robot which is similar to a child who is taller than 1[Formula: see text]m. We show the humanoid robot’s kinematics, design of a three-dimensional (3D) model, develop mechanisms and the hardware structures with servo-motors and compact-size PC. The developed humanoid robot “CHARLES2” stands for Cognitive Humanoid Autonomous Robot with Learning and Evolutionary System-Two. The inverse kinematics of its legs is described. The principle of the omni-directional walking pattern generator is discussed to create walking motions and overcome the robot’s mechanical deficiencies. We applied the proposed omni-directional walking pattern generator based on ZMP. Through experiments, we analyzed walking patterns according to the creation and changing parameter values. The results of the experiments are presented for the efficacy of our proposed walking engine.

APA, Harvard, Vancouver, ISO, and other styles

48

Zhao, Chang Long. "The Motion Simulation of Small Robot Walking Mechanism." Applied Mechanics and Materials 602-605 (August 2014): 1421–24. http://dx.doi.org/10.4028/www.scientific.net/amm.602-605.1421.

Full text

Abstract:

In this paper, according to the characteristics of mould and polishing machining of freeform surface, we used the small robot for lapping and processing method. The 3d modeling of the robot is modeled by CATIA, and carried out the kinematical analysis on the center of mass in driving wheel, and the movement simulation of whole body is carried out by ADMAS. The results of simulation show that using small robots for machining of die free-form surface is feasible.

APA, Harvard, Vancouver, ISO, and other styles

49

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

50

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

Journal articles on the topic 'Walking robot'

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles