Hostname: page-component-7c8c6479df-5xszh Total loading time: 0 Render date: 2024-03-27T20:18:30.415Z Has data issue: false hasContentIssue false

Design and simulated characteristics of a new biped mechanism

Published online by Cambridge University Press:  15 April 2014

Tao Li*
Affiliation:
Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou (Jiangsu) 213164, China LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Via Di Biasio 43, Cassino 03043 (FR), Italy
Marco Ceccarelli
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Via Di Biasio 43, Cassino 03043 (FR), Italy
*
*Corresponding author. E-mail: roboylee@163.com

Summary

This paper presents a new biped mechanism with low-cost easy-operation features. The mechanism is designed with functions for straight walking, changing direction, overcoming obstacle, and climbing stairs with only 7 DOFs (degrees of freedom). Dynamics of the biped mechanism are analyzed by means of simulations in the MSC.ADAMS environment. Simulation results in terms of motion torque, joint force, contact force, parts displacement, velocity, and acceleration are reported and analyzed to show the feasibility and efficiency of the proposed solution. In addition, with the simulation results, dynamical motion of the biped mechanism is investigated and its operation performances are characterized as well.

Type
Articles
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Hirose, M., Haikawa, Y., Takenaka, T. and Hirai, K., “Development of Humanoid Robot ASIMO,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)-Workshop 2, Maui, Hawaii (Oct. 29–Nov. 3, 2001) pp. 13211326.Google Scholar
2. Kaneko, K., Kanehiro, F., Kajita, S., Hirukawa, H., Kawasaki, T., Hirata, M., Akachi, K. and Isozumi, T., “Humanoid Robot HRP-2,” Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, USA (Apr. 26–May 1, 2004) pp. 10831090.Google Scholar
3. Verrelst, B., Stasse, O., Yokoi, K. and Vanderborght, B., “Dynamically Stepping Over Obstacles by the Humanoid Robot HRP-2,” Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots, Genova, Italy (Dec. 4–6, 2006) pp. 117123.Google Scholar
4. Nishiwaki, K., Kagami, S., Kuffner, J., Inaba, M. and Inoue, H., “Humanoid ‘JSK-H7’: Research Platform for Autonomous Behavior and Whole Body Motion,” Proceedings of the International Workshop Humanoid Human Friendly Robot (IARP), Tsukuba, Japan (Dec. 11–12, 2002) pp. 29.Google Scholar
5. Oh, J.-H., Hanson, D., Kim, W.-S., Han, I.-Y., Kim, J.-Y. and Park, I.-W., “Design of Android type Humanoid Robot Albert HUBO,” Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China (Oct. 9–15, 2006) pp. 14281433.Google Scholar
6. Park, I.-W., Kim, J.-Y., Lee, J. and Oh, J.-H., “Mechanical design of the humanoid robot platform HUBO,” Adv. Robot. 21 (11), 13051322 (2007).Google Scholar
7. Lige, Z. and Qiang, H., “A Visual Tele-Operation System for the Humanoid Robot BHR-2,” Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'2006, Beijing, China (Oct. 9–15, 2006) pp. 11101114.Google Scholar
8. Ogura, Y., Aikawa, H., Shimomura, K., Kondo, H., Morishima, A., Lim, H. and Takanishi, A., “Development of a New Humanoid Robot WABIAN-2,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, USA (May 15–19, 2006) pp. 7681.Google Scholar
9. Corral, E., Meneses, J. and Prada, J. C. G., “Inverse and Forward Dynamics of the Biped Pasibot,” Proceedings of the 4th International Symposium on Multibody, Systems and Mechatronics (MUSME 2011), Valencia, Spain (Oct. 25–28, 2011) pp. 1127.Google Scholar
10. Biped Robot Research at MEL (2012), available at http://staff.aist.go.jp/s.kajita/biped-e.html.Google Scholar
11. Li, T. and Ceccarelli, M., “Additional Actuations for Obstacle Overcoming by a Leg Mechanism,” Proceedings of the 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Milano, Italy (Aug. 28–Sep. 2, 2011) pp. 68986903.Google Scholar
12. Li, T. and Ceccarelli, M., “An Experimental Characterization of a Rickshaw Prototype,” Int. J. Mech. Control 12 (2), 2938 (2011).Google Scholar
13. Liang, C. H., Ceccarelli, M. and Takeda, Y., “Operation Analysis of a One-DOF Pantograph Leg Mechanism,” Proceedings of the 17th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD08, Paper no. 50, Ancona, Italy (May 25–27, 2008) pp. 1517.Google Scholar
14. Li, T., “Design and Characterization of a New Biped Research Platform” Ph.D. Thesis (Cassino, Italy: University of Cassino and South Latium, 2013).Google Scholar