Biped Robots With Compliant Joints for Walking and Running Performance Growing

Abstract

This paper deals with the problem of compliance in biped robots locomotion. After a first literature review, we designed and simulated a 3D virtual model of a biped robot conceived with the same link dimensions (and weights) of a standard man. In all simulation, the same input to the robot actuators are proposed, modifying only the compliance of the attached links. We first validated the model and then compared results increasing and reducing compliance on hip, knee and ankle joints. The very good results underline how the robot performances may be increased including the compliant element in the knee. In particular, we noted how including a proper value of the compliance in the knee, power and torque of the actuators may be reduced increasing robot speed.

Sustainable Compliant Physical Interaction in a Biped-Wheeled Wearable Machine

“…In this paper, the authors used the peak values for each joint (hip, knee, and ankle), calculated in Shamaei et al (2013) and Sartori et al (2015), and implemented them on the model of the subject, obtaining a more realistic motion. Figure 2 shows the multibody model of the exoskeleton machine and the subject on board, designed using the dimensions of a standard man (age: 30; height: 1,720 mm; weight: 70 kg) (Maiorino and Muscolo, 2020). Figure 2 shows how the human is positioned on the machine.…”

“…The subject subsystem is obtained using the dimensions of the standard man available in literature (Maiorino and Muscolo, 2020); it is composed of 19 rigid bodies and 33 joints. Each body part (hands, arms, legs, trunk, neck, feet, and head) has been designed with the same dimensions, weights, and center of mass positions of the standard man, as shown in Maiorino and Muscolo (2020), giving as input the total height (1,720 mm) and weight (70 kg) of the subject and validating their interaction in a multiphysic environment. The subject multibody model is attached to the exoskeleton at three points: the trunk (and head) and the two feet.…”

“…This paper was underlined as one of the "Notable articles on Biped Robots" (only six papers have this honour today) (IJHR, 2020). After these results, other studies on modelling and compliance in legged robots Maiorino and Muscolo, 2020;Spadaro and Muscolo, 2020) have permitted the evolution of Rollo in a novel biped-wheeled wearable robot (or biped-wheeled exoskeleton). Different aspects of this novel device are analysed in other works, including human comfort (Zoccali and Muscolo, 2021), the multibody model design (Nicoli, 2020), and the first prototype in a reduced scale (Loschi, 2020).…”

Analyses and Optimization Methods of Legged Robots: A Review

“…Giovanni Gerardo Muscolo [4],et.al., (31st March 2020) introduced the issue of compliance in biped locomotion.A biped robot with a similar connection measurements of a standard man has been planned and mimicked with altered compliance of the appended connections and afterward recreation results have been contrasted by expanding and decreasing compliance on hip,knee and lower leg joints.The simulation results show that robot exhibitions, for example, speed and force can be improved by remembering the agreeable component for the knee joint in light of the fact that the compliant joint can retain effects and move energy.The imprudent burdens to which the actuators have been oppressed during strolling and running have been limited due to the disconnection between the line of association of the connections and the actuator because of the compliance.It has additionally been assessed how much the firmness of each joint separately taken can be enhanced to limit energy. Takuma Nemoto [10],et.al., (2015) built up a reconfigurable quadruped robot motivated from huntsman creepy crawly that can perform strolling and moving movement and change between strolling and moving by reconfiguring its legs.To make up for robot's energy misfortune during locomotion,a regulator has been planned dependent on a unique model of the quadruped robot.This dynamic model depicts motion along planes and is then applied for figuring mechanical energy in mathematical recreations from which we can acquire the check of the adequacy in accomplishing intermittent moving headway of the proposed controller.This dynamic model additionally produces joint force for its supporting leg which permits machine's motor energy to arrive at a target energy.…”

Influence of Compliant Joints in Four-Legged Robots

“…Many studies have been performed on the same research subject, but we noted that our contribution introduces a research not underlined in the cited works. Although our research approach has been proposed for biped robots in Maiorino and Muscolo (2020), including the stiffness variation in compliant legs during locomotion, in this work, we introduce a four-legged robot with compliance in spine and legs. The novelty of our contribution can be underlined by the following four points:…”