Experimental Study on Rolling Stability of Quadruped and Hexapedal Water Running Robots

Kim, HyunGyu; Kim, Jung Hyun; Seo, ByungHoon; Seo, TaeWon

doi:10.7736/kspe.2013.30.10.1023

Journal of the Korean Society for Precision Engineering

2013

DOI: 10.7736/kspe.2013.30.10.1023

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Experimental Study on Rolling Stability of Quadruped and Hexapedal Water Running Robots

HyunGyu Kim¹,

Jung Hyun Kim²,

ByungHoon Seo³

et al.

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2014

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Cited by 1 publication

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Optimal Design of Klann-linkage based Walking Mechanism for Amphibious Locomotion on Water and Ground

Kim¹,

Jung²,

Shin³

et al. 2014

Journal of Institute of Control, Robotics and Systems

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Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klannlinkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.Keywords: water-running robot, Klann-mechanism, level average analysis, optimal design, orthogonal array

show abstract

Optimal Design of Klann-linkage based Walking Mechanism for Amphibious Locomotion on Water and Ground

Kim¹,

Jung²,

Shin³

et al. 2014

Journal of Institute of Control, Robotics and Systems

View full text Add to dashboard Cite

show abstract

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Experimental Study on Rolling Stability of Quadruped and Hexapedal Water Running Robots

Cited by 1 publication

References 7 publications

Optimal Design of Klann-linkage based Walking Mechanism for Amphibious Locomotion on Water and Ground

Optimal Design of Klann-linkage based Walking Mechanism for Amphibious Locomotion on Water and Ground

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