This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decouplin...This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous.展开更多
For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is pro...For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS+UP(U,P and S are universal joint,the prismatic pair,and sphere joint,respectively) parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS+UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.展开更多
文摘This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous.
基金supported by National Natural Science Foundation of China (No. 61075099) FP7-PEOPLE-2012-IRSES:Marie Curie Action "International Research Staf Exchange Scheme" (No. 318902)
文摘For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS+UP(U,P and S are universal joint,the prismatic pair,and sphere joint,respectively) parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS+UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.