A multi-legged robot with less actuators by applying passive body segment joint

Tang, Yongchen; Ma, Shugen; Sun, Yu; Ge, Dingxin

doi:10.1109/iros.2012.6385763

Cited by 2 publications

(2 citation statements)

References 9 publications

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“…These robots utilize multi-DOF leg mechanisms to arbitrarily position their single point of contact feet to perform forward walking gaits and steer on both flat and uneven terrain. Therefore, a 2n-legged robot requires 6n actuators where n is the number of leg pairs [7]. If flat feet are to be implemented into leg mechanism to enhance stability and disturbance rejection capabilities [8], additional DOFs are required to control foot orientation during a walking gait.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Robotic Modular Leg Mechanism

Saab

Ben-Tzvi

2016

Volume 5A: 40th Mechanisms and Robotics Conference

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This paper presents the design and analysis of a reduced degree-of-freedom Robotic Modular Leg (RML) mechanism used to construct a quadruped robot. This mechanism enables the robot to perform forward and steering locomotion with fewer actuators than conventional quadruped robots. The RML is composed of a double four-bar mechanism that maintains foot orientation parallel to the base and decouples actuation for simplified control, reduced weight and lower cost of the overall robotic system. A passive suspension system in the foot enables a stable four-point contact support polygon on uneven terrain. Foot trajectories are generated and synchronized using a trot and modified creeping gait to maintain a constant robot body height, horizontal body orientation, and provide the ability to move forward and steer. The locomotion principle and performance of the mechanism are analyzed using multi-body dynamic simulations of a virtual quadruped and experimental results of an integrated RML prototype.

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Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Robotic Modular Leg Mechanism

Saab

Ben-Tzvi

2016

Volume 5A: 40th Mechanisms and Robotics Conference

View full text Add to dashboard Cite

show abstract

“…These robots utilize multi-DOF leg mechanisms to position their (primarily) single point of contact feet to walk and steer on both flat and uneven terrain. Therefore, a 2n-legged robot requires 6n actuators, where n is the number of leg pairs [7]. If flat feet are implemented into the leg mechanism to enhance stability and disturbance rejection capabilities [8], additional DOFs are required to control foot orientation during a walking gait.…”

Section: Introductionmentioning

confidence: 99%

Robotic Modular Leg: Design, Analysis, and Experimentation

Saab

Rone

Ben-Tzvi

2017

Journal of Mechanisms and Robotics

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This paper presents the design and analysis of a reduced degree-of-freedom (DOF) robotic modular leg (RML) mechanism. The RML is composed of a two serially connected four-bar mechanisms that utilize mechanical constraints between articulations to maintain a parallel orientation between the foot and body without the use of an actuated ankle. Kinematic and dynamic models are developed for the leg mechanism and used to analyze actuation requirements and aid motor selection. Experimental results of an integrated prototype tracking a desired foot trajectory are analyzed to improve the accuracy and repeatability of the mechanism. The prototype weighs 4.7 kg and measures 368 mm in a fully extended configuration and exhibits a maximum deviation from the straight line support phase equivalent to 5.2 mm.

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A multi-legged robot with less actuators by applying passive body segment joint

Cited by 2 publications

References 9 publications

Design and Analysis of a Robotic Modular Leg Mechanism

Design and Analysis of a Robotic Modular Leg Mechanism

Robotic Modular Leg: Design, Analysis, and Experimentation

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