Implementation of a Large-Scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism

Gim, Kevin G.; Kim, Joohyung

doi:10.1109/ur55393.2022.9826239

Cited by 3 publications

(3 citation statements)

References 17 publications

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“…Thus, this base constraint rotational quantity intersected or was parallel to all the rotational joint axes. Equation (17) shows that the set of base twists of LTS contains three zero-pitch twists $ 1 , $ 2 , and $ 3 , and two twists $ 4 and $ 5 with an infinite pitch. To match the motion of the SPP subvirtual chain, the LKC must contain a spherical compound joint, a planar composite joint, or a 2D surface of the torus composite joint.…”

Section: Geometric Conditions To Be Satisfied By Lts and Lws In Amentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Designing parallelly actuated hip joints and serially actuated knee joints results in a robot structure that is compact and lightweight, with low inertia. [17] However, these hybrid-legged mechanisms are significantly complex for kinematic solving and control system construction.For a bipedal robot to bear a relatively heavy load, the legged mechanism requires high stiffness and must realize real-time and accurate control. This will help accurately rectify the robot's posture in real time to prevent it from falling after interference.…”

mentioning

confidence: 99%

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Type Synthesis of a Novel 4‐Degrees‐of‐Freedom Parallel Bipedal Mechanism for Walking Robot

Zhang,

Zang,

Chen

et al. 2023

Advanced Intelligent Systems

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In this study, the conventional virtual chain method is refined and a 4‐degrees‐of‐freedom (DOF) parallel bipedal mechanism (PBM) for walking robots is presented. The proposed design has the advantages of low inertia, high load‐to‐weight ratio, and impact resistance. First, to solve the redundant motion‐transmission problem, a refined virtual chain method is proposed for the type synthesis of the 4‐DOF parallel thigh mechanism. Second, the relationship equation for each actuated wrench component in a reasonable actuated joint arrangement is derived, and the number and location of the actuated joints are determined. Third, by optimizing the design of the hip joint as a 2‐DOF counter‐centered five‐link spherical mechanism with different rotation centers, passive knee and ankle joints are designed based on the bionic principle. This design is performed to make the PBM isotropic and minimize inertia. The proposed PBM can withstand heavy loads and impacts owing to its humanoid crossed four‐link knee joint mechanism and compliant calf mechanism. Finally, the prototype is processed, and the rationality of the design and excellent performance of the PBM design are verified by dynamic and static simulations and gait experiments.

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Section: Geometric Conditions To Be Satisfied By Lts and Lws In Amentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Type Synthesis of a Novel 4‐Degrees‐of‐Freedom Parallel Bipedal Mechanism for Walking Robot

Zhang,

Zang,

Chen

et al. 2023

Advanced Intelligent Systems

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Implementation of Untethered Biped Robots Utilizing Serial-Parallel Hybrid Leg Mechanisms

Hirashima,

Myers,

Zamora

et al. 2024

2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)

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A direct-drive five-bar manipulator with tuned directional first-order kinematics for low energy consumption in vertical loading

Ramesh,

Plecnik

2024

The International Journal of Robotics Research

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The kinematic configuration space of a manipulator determines the set of all possible motions that may occur, and its differential properties have a strong, albeit indirect, influence on both static and dynamic performance. By viewing first-order kinematics as a field of Jacobian-defined ellipses across a workspace, a novel two degree-of-freedom manipulator was designed, and is tested in this paper for its benefits. The manipulator exhibits a field of ellipses that biases transmission characteristics in Cartesian directions of the end-effector. The horizontal direction is biased toward speed in order to move across the width of the workspace quickly, while the vertical direction is biased toward force production in order to resist gravitational loads. The latter bias endows the manipulator with load capacity in the absence of gears. Such an exclusion can forego the extra weight, complexity, backlash, transmission losses, and fragility of gearboxes. Additionally, a direct drive set-up improves backdrivability and transparency. The latter is relevant to applications that involve interacting with the environment or people. Our novel design is set through an array of theoretical and experimental performance studies in comparison to a conventional direct drive manipulator. The experimental results showed a 3.75× increase in payload capacity, a 2× increase in dynamic tracking accuracy, a 2.07× increase in dynamic cycling frequency, and at least a 3.70× reduction in power consumption, considering both static and dynamic experiments.

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Implementation of a Large-Scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism

Cited by 3 publications

References 17 publications

Type Synthesis of a Novel 4‐Degrees‐of‐Freedom Parallel Bipedal Mechanism for Walking Robot

Type Synthesis of a Novel 4‐Degrees‐of‐Freedom Parallel Bipedal Mechanism for Walking Robot

Implementation of Untethered Biped Robots Utilizing Serial-Parallel Hybrid Leg Mechanisms

A direct-drive five-bar manipulator with tuned directional first-order kinematics for low energy consumption in vertical loading

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