Design of a battery-powered multi-purpose bipedal locomotor with parallel mechanism

Sugahara, Yusuke; Endo, Tomoko; Lim, Hun-ok; Takanishi, Atsuo

doi:10.1109/irds.2002.1041671

Cited by 47 publications

(25 citation statements)

References 2 publications

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“…While parallel mechanisms were mostly used as legs in most works [17][18][19][20][21], in this work, we innovatively use the parallel mechanism as both an actuator to generate walking and also a connecting body to connect two groups of three legs. The new walking robot is thus able to walk with simple gait using very few motors.…”

Section: Discussionmentioning

confidence: 99%

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Li¹,

Meng²,

Bai³

et al. 2018

Preprint

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Abstract:The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot's maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

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Section: Discussionmentioning

confidence: 99%

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Li¹,

Meng²,

Bai³

et al. 2018

Preprint

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“…is a design that achieved world first dynamic biped walking as based on leg designs with Gough-Stewart parallel manipulators (Hashimoto et al, 2009). Ota et al (1998) and Sugahara et al (2002) have also proposed to use Gough-Stewart parallel manipulators for leg modules in other systems. Nevertheless, the potentiality of parallel manipulators for leg mechanisms has not been fully investigated, since the typical six degrees of freedom (DOFs) manipulators also suffer from some disadvantages, e.g., limited workspace, difficult mechanical design, complex direct kinematics, and control algorithms.…”

Section: Introductionmentioning

confidence: 99%

Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

2015

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Abstract. In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator and its operation performance is investigated through lab experimental tests. In particular, an experimental layout is presented for investigating operational performance. A prescribed motion with an isosceles trapezoid trajectory is used for characterizing the system behavior. Experiment results are analyzed for the purpose of operation evaluation and architecture design characterization of the tripod manipulator and its proposed prototype.

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“…In the leisure industry the Sony company already made one commercially available four legged robot, AIBO (Sony, 2003) and presented a humanoid robot SDR -Sony Dream Robot- (Kuroki et al, 2001). At WASEDA university the legged robot WL-15 (Sugahara, 2002) was designed to carry disabled people and built with the financial support of commercial companies as SANYO. But also for industrial use legged robots are increasingly gaining interest, e.g.…”

Section: Introductionmentioning

confidence: 99%

The Pneumatic Biped ?Lucy? Actuated with Pleated Pneumatic Artificial Muscles

et al. 2005

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This paper reports on the bipedal robot Lucy which is actuated by pleated pneumatic artificial muscles. This novel actuator is very suitable to be used in machines which move by means of legs. Besides its high power to weight ratio the actuator has an adaptable passive behavior, meaning the stiffness of the actuator can be changed on-line. This allows to change the natural frequency of the system while controlling angular joint positions. The main control concept intended for Lucy is joint trajectory control while selecting appropriate actuator compliance characteristics in order to reduce control efforts and energy consumption which is of great importance towards the autonomy of legged robots. Presently Lucy has made her first steps with the implementation of basic control strategies.The pleated pneumatic artificial muscle and its characteristics will be discussed briefly and the design of Lucy which is made modular on mechanical as well as electronic hardware level will be described in detail. To pressurize the muscles, a lightweight valve system has been developed which will be presented together with the fundamental control aspects of a joint actuated with two antagonistically setup artificial muscles. Additionally the first experimental results will be shown and briefly discussed.

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Design of a battery-powered multi-purpose bipedal locomotor with parallel mechanism

Cited by 47 publications

References 2 publications

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

The Pneumatic Biped ?Lucy? Actuated with Pleated Pneumatic Artificial Muscles

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