Monte-Carlo Workspace Calculation of a Serial-Parallel Biped Robot

Peidró, Adrián; Gil, Arturo; Marı́n, José Marı́a; Berenguer, Yerai; Payá, Luis

doi:10.1007/978-3-319-27149-1_13

Cited by 7 publications

(3 citation statements)

References 2 publications

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“…After obtaining the Jacobian matrix, we analyze the point P acceleration by partially differentiating (24) in the time domain and obtain the following equation:…”

Section: Acceleration Analysismentioning

confidence: 99%

“…Hou et al [23] proposed a 5-DOF manipulator based on an RP-(2-RRU/1-RUU) mechanism. Peidró et al [24] developed a humanoid robot with a serial/parallel hybrid structure; its leg incorporates two parallel mechanisms that are connected in series. Zhang et al [25] combined two parallel mechanisms in series to form a robot, obtaining a large workspace and high accuracy.…”

Section: Introductionmentioning

confidence: 99%

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Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

et al. 2020

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A three-DOF (degree-of-freedom) serial-parallel hybrid mechanism is proposed that consists of a 2-UPS+U component (UPS: universal-/prismatic-/spherical-joint chain and U: universal joint) and an R+RPS component (R: revolute joint and RPS: revolute-/prismatic-/spherical-joint chain). This mechanism can provide high precision and a large workspace, which indicates its applicability to wheel-legged robots. To verify our proposal, a mobility analysis showed that the mechanism simultaneously achieved three rotational movements. Then, the inverse/forward position analysis, velocity analysis, acceleration analysis, and stiffness analysis were carried out. Finally, a prototype of the mechanism was fabricated and its position error was found to be <1.8% despite the large workspace. These results demonstrate the effectiveness of our proposal and provide a new approach for designing new mechanisms for wheel-legged robots. INDEX TERMS Serial-parallel hybrid mechanism, 2-UPS+U mechanism, R+RPS mechanism, kinematics, wheel-legged robot.

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“…After obtaining the Jacobian matrix, we analyze the point P acceleration by partially differentiating (24) in the time domain and obtain the following equation:…”

Section: Acceleration Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

et al. 2020

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“…However, it's not clear whether the proposed new humanoid torso based on a special 6-DOFs mechanism could achieve continuous typical motion actions in Cartesian space. As shown in Figure 5, workspace of the proposed torso mechanism has been analyzed using Monte Carlo method 11,12 based on forward kinematics. Monte Carlo method has no limits to joint types and ranges of joint variables; it uses y i ¼ y i min þ ðy i max À y i min Þ Â RandðÞ in [Àp, p] to generate values of joints, where RandðÞ is a uniform pseudo-random number.…”

Section: Forward Kinematics and Workpace Analysismentioning

confidence: 99%

Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

Yao

Luo

et al. 2018

International Journal of Advanced Robotic Systems

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This article presents a bioinspired humanoid torso which is supposed to be used as the trunk for humanoid robots. It can effectively mimic motions of human torso with high degrees of freedom, and it has high stiffness and easy-to-control features. The main structure of the proposed torso is a six-degree-of-freedom serial mechanism with twist angles that are not equal to 0, p/2 or p and zero-length links. Forward kinematic and workspace analysis based on Denavit-Hartenberg and Monte Carlo methods have been formulated to analyze the feasibility of this structure. In addition, a hybrid method combing the large-scale regularity search capabilities of chaos optimization and the quasi-Newton method with relatively high-speed convergence has been proposed to analyze inverse kinematics. Simulations are carried out with the aim to validate the correctness and efficiency of this method for studying the inverse kinematics.

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A Novel Method for the Motion Planning of Hyper-redundant Manipulators Based on Monte Carlo

Zhao

Wang

2016

Lecture Notes in Electrical Engineering

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Monte-Carlo Workspace Calculation of a Serial-Parallel Biped Robot

Cited by 7 publications

References 2 publications

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Design and kinematics analysis of a novel six-degree-of-freedom serial humanoid torso

A Novel Method for the Motion Planning of Hyper-redundant Manipulators Based on Monte Carlo

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