Leg design for biped locomotion with mono-articular and bi-articular linear actuation

Chevallereau, Christine; Wenger, Philippe; Aoustin, Yannick; Mercier, Franck; Delanoue, Nicolas; Lucidarme, Philippe

doi:10.1016/j.mechmachtheory.2020.104138

Cited by 16 publications

(10 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(ii) Each motor should be unique in the considered architecture to keep the design simple (iii) Even when considering redundancy, the number of motors should still be limited to conserve the human-like aspect and reduce its weight is resulted in considering a monoarticular motor for each joint (hip, knee, and ankle) and two bi-articular actuators spanning the hip-knee joints and knee-ankle joints, respectively, for a maximum of five motors. From these choices, 14 architectures, i.e., motor's type and number, are deduced, taking as a base the nonredundant architectures presented in [3], and adding six architectures with redundancy (5 four-motor architectures and one five-motor architecture, shown in Figure 3). e motors used in each architecture are detailed in Figure 4.…”

Section: Problem Statementmentioning

confidence: 99%

“…e relationship between the two also depends on the number and positioning (i.e., the affected joints) of the motors. As explained in [3], when considering all the motors, the relation between the joint torques and their corresponding motor forces can be written as…”

Section: Forces Computationmentioning

confidence: 99%

“…Concerning the motor type, there are two main solutions: rotary and linear motors. To take into account the impacts involved in classic biped motions, one can consider the use of backdrivable motors as they o er inherent lowimpedance and impact mitigation [2][3][4][5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

“…Doorenbosch et al [13] showed that mono and bi-articular muscles are present in the human leg structure, making such motors an option to consider. A design methodology for bipedal robots using a combination of monoarticular and bi-articular DD linear motors is proposed in [3], as well as some architectures without redundancy selected to perform a computed trajectory. As most bipedal robots limit themselves to nonredundant architectures, redundancy while using linear actuators is still a subject to be explored.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

Langard

Lucidarme

Delanoue

et al. 2022

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The choice of actuation when designing a bipedal robot is an important matter, as it impacts its capacities and its control. In these aspects, electric direct-drive (DD) linear motors are interesting candidates. Indeed, they can reproduce the human muscle system by using monoarticular and bi-articular motors and offer a natural backdrivability for impact mitigation. However, motor efficiency depends on their elongation and their attachment points. The ROBIBIO (RObot humanoïde BI-articulaire BIO-inspiré) project aims to design and build a planar bipedal robot using electric direct-drive linear motors for the actuation. To do so, a simulator was developed to evaluate multiple human-like bipedal robot architectures over a set of motion-captured movements. Furthermore, a numerical optimization was done to find the best motor placement for each architecture.

show abstract

Section: Problem Statementmentioning

confidence: 99%

Section: Forces Computationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

Langard

Lucidarme

Delanoue

et al. 2022

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…However, the study used a joint-level impedance control to control the joint variables independently, which did not fully take advantage of the simplicity provided by controlling and analyzing the robotic leg with the biarticular actuation mechanism in a rotating workspace to mimic human motion. The attachment points of the linear motors on a robotic leg that minimize the required positive or negative forces were determined using sequential quadratic programming optimization approach [9]. Eight different actuation setups were also investigated based on three linear mono-articular and bi-articular actuators to select the preferable actuation configuration [9].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

Kalibala

Mohamed

Umezu

et al. 2023

Preprint

View full text Add to dashboard Cite

It is well recognized that biarticular muscles cross over two joints instead of just one, granting them the ability to generate substantial forces across both joints. This type of muscle plays a crucial role in human movement, since it produces large forces. In literature, there have been numerous designs of mono- and biarticular actuations applied for a two- or three-link robotic leg, aimed at studying human locomotion. A novel biarticular actuation configuration for a two-link compliant robotic leg is proposed in this research. It features mono-articular rotational actuation for the proximal link and biarticular linear actuation for the distal link. The distal link is actuated by a linear Series Elastic Actuator (SEA) that is suitable for compliant ground interaction, while the proximal link is driven by a stiff rotary actuator. This biarticular actuation is bio-inspired by the biarticular muscles in humans, especially the hamstring muscle, which span two joints instead of one to provide high torque at both joints. This new configuration for the two-link robotic leg realizes the Spring-loaded Inverted Pendulum (SLIP) dynamics, making human locomotion during the compliant ground interaction simpler. In the biarticular coordinates, complete kinematic and dynamic analyses are developed for this new configuration. The approach also involves using a rotating task space to represent the swing and stance phases of human gait. The dynamic model is transformed into this rotating task space and a hybrid impedance and position controller is developed with optimized gains to minimize the tracking errors and prevent any disturbance. A disturbance observer controller is developed and integrated with the hybrid impedance control for the proposed linear SEA in order to improve the force control precision and the resilience against external disturbances. The simulation results show the feasibility of this new approach.

show abstract

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

Zhang,

Zang,

Chen

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

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.

show abstract

Leg design for biped locomotion with mono-articular and bi-articular linear actuation

Cited by 16 publications

References 16 publications

Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

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

Contact Info

Product

Resources

About