Fundamental mechanism of dinosaur-like robot TITRUS-II utilizing coupled drive

Takita, Kensuke; Hodoshima, Ryuichi; Hirose, Shigeo

doi:10.1109/iros.2000.895212

Cited by 19 publications

(12 citation statements)

References 7 publications

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“…Thus, the proposed hip mechanism may be inadequate to humanoid system, but can be useful in the design of some biomimetic systems resembling two or four legged animals. Takita, et al (5) proposed a similar hip mechanism with small motion range, but it was successfully applied to the design of a Dinosaur-like Robot. Figure 4 represents the maximum force transmission ratios for these simulation examples.…”

Section: Kinematic Indexmentioning

confidence: 99%

“…Sugahara, et al (4) introduced a biped robot with a total of 12 active linear actuators at each leg. Takita, et al (5) proposed a linear actuator with a ball screw and a coupled drive mechanism to develop dinosaur-like biped walking robot. Their mechanism is driven by one linear actuator and a coupled drive consisting of two linear actuators to achieve 3-DOF motion of the dinosaur-like biped walking robot.…”

Section: Introductionmentioning

confidence: 99%

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Design of a Redundantly Actuated Hip Mechanism

2006

JSME Int. J., Ser. C

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In humanoid robotic system, many human-body motions such as walking, running, and jumping require large power. As one effort to achieve such high power-to-weight ratio, this paper proposes a new hip design using parallel kinematic chain involving redundant actuators. The kinematics for the hip mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant actuator into the hip mechanism enhances the power of the mechanism approximately 4 times of the minimum actuation. And the validity of the simulation result was verified through experimental works.

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Section: Kinematic Indexmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of a Redundantly Actuated Hip Mechanism

2006

JSME Int. J., Ser. C

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“…Various research on walking robots for practical use was conducted by some researchers [1][2][3][4][5][6], and there has also been research into the biped walking type. Concerning a locomotion module capable of carrying a human, some research has also been conducted on the "Walking Chair" [5] or locomotion module called "My Agent" [6].…”

Section: Introductionmentioning

confidence: 99%

“…of reducing DOF [1,2], while other projects focused only on ascending/descending stairs [3,4] and some, moreover, did not focus on dynamic biped walking [5,6]. Although these means are advantageous in terms of economy and ease, their goal is not versatility.…”

Section: Introductionmentioning

confidence: 99%

Walking Pattern Generation of a Biped Walking Vehicle Using a Dynamic Human Model

Sugahara

Hashimoto

Kawase

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper describes a passive dynamic model of passenger for a biped walking vehicle. The walking pattern generation that enables stable walking even if passenger sits naturally is also described. The model consists of lower-limbs part assumed to be fixed to the robot, and the upper body assumed to be 1 particle with 2 DOF mounted on the seat via 2 springs and dampers. The parameters are identified through waist shaking experiments by using a force-torque sensor under the seat. The walking pattern generation method involves the proposed model being built onto a strict model of the robot, and through iteration computation, a stable walking pattern is generated. The effectiveness of the proposed method is confirmed through experiments.

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“…There are a few researches on bipedal robot applications as a multi-purpose locomotor 15, 6,7,8). However, these robots are difficult to be employed as locomotive systems for human living and working environments because of the lack of adaptability.…”

Section: Introductionmentioning

confidence: 99%

Realization of stable dynamic walking by a parallel bipedal locomotor on uneven terrain using a virtual compliance control

Sugahara

Hosobata

Mikuriya

et al.

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

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This paper describes a control method for a stable biped walking on uneven terrain. The walking contml consists of a position contml and a compliance contml. In order to realize dynamic walking on a human living environment, a biped locomotor is contmlled by the position contml based on a compensatory motion. Also. in this research, to reduce the magnitude of impact forces and f o guarantee a stabe Ianding on the gmund, the position-based virtual compliance contml is introduced. Several walking experiments on uneven terrain are conducted using WL-I5 (cvaseda and the effetiveness of the conml method is confirmed.

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Fundamental mechanism of dinosaur-like robot TITRUS-II utilizing coupled drive

Cited by 19 publications

References 7 publications

Design of a Redundantly Actuated Hip Mechanism

Design of a Redundantly Actuated Hip Mechanism

Walking Pattern Generation of a Biped Walking Vehicle Using a Dynamic Human Model

Realization of stable dynamic walking by a parallel bipedal locomotor on uneven terrain using a virtual compliance control

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