Parallel Manipulator Hip Joint for a Bipedal Robot

Hofschulte, Jens; Seebode, Mario; Gerth, Wilfried

doi:10.1007/3-540-29461-9_60

Cited by 9 publications

(6 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Considering the geometrical approach-despite partial works were made in [48] and [49]-to the best of our knowledge, there has not been published a completely formulated solution for the general SPM, which is applicable to an arbitrary shape and is based on spherical trigonometry. This furthermore includes the representation of all nine joint coordinates and the initial embedding of a specific manipulator working mode that corresponds to the physically intended configuration of the mechanical system.…”

Section: ) Inverse Kinematicsmentioning

confidence: 99%

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Feller

2023

IEEE Access

View full text Add to dashboard Cite

In this article, the solution to the inverse and forward kinematics of a novel three-legged, serialparallel, compliant robot are presented. The design of the robot aims to combine properties from serial and parallel architectures, thereby targeting an agile, yet precisely controllable robot that possibly allows both for dynamic locomotion and accurate manipulation tasks. The robot embodies the series connection of two parallel architectures, a planar and a spherical mechanism, realized in a highly dense mechanical assembly, allowing for lightweight, functionally redundant and compliant 4-DOF legs. A hybrid compliance behaviour is achieved, serving as a threshold between a stiff and compliant systemic state of the robot. Based on the mechanism design, the study involves the derivation of an alternative, yet complete solution for the inverse and forward kinematics of the spherical parallel manipulator (SPM). The approach utilizes spherical trigonometry and spatial vector geometry and yields a unique solution, while being both easy to implement and numerically efficient, thereby being applicable to real time implementations. Conceptually, a reduction of the mechanism assembly and working modes was directly integrated into the solution terms, drastically simplifying the expressions as they only represents the mechanically meaningful configuration relevant for actual physical systems. In addition to the active joint coordinates, the solution yields a unique set of all passively driven joints. The derived robot kinematics are furthermore verified through a 3D simulation model, showing the robot performing several motions. Thereby, the simulations portray the characteristics of the motor units by means of their corresponding phase profiles, revealing a balanced utilisation.INDEX TERMS Forward kinematics, inverse kinematics, legged robot, mechanical design, serial-parallel mechanism, spherical parallel manipulator.

show abstract

Section: ) Inverse Kinematicsmentioning

confidence: 99%

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Feller

2023

IEEE Access

View full text Add to dashboard Cite

show abstract

“…A specialty of LISA's kinematic structure is the hip joint, which is designed as a ball-and-socket joint with parallel actuation. All hip motors are attached to the upper body [70]. The sensor system comprises six-axis force/torque sensors in the feet and three inertial measurement systems on the trunk and thighs.…”

Section: Fully Actuated Biped Walking Robotsmentioning

confidence: 99%

“…The flexion/extension joint is driven independently by a rotary drive. Hofschulte et al [70] develop a three-DoF spherical parallel hip joint for the robot LISA. All motors are situated in the pelvis.…”

Section: Related Workmentioning

confidence: 99%

Development of architecture and generalized modules structure for robotic complexes distributed control system for different applications

Krestovnikov¹,

Erashov²

2022

Rob.andTech.Cyb.J.

View full text Add to dashboard Cite

The autonomous robotic complexes allow solving a wide range of scientific, civil and military tasks. In order to work correctly, these complexes have to include a number of heterogeneous functional systems in its composition. The implementation of these systems requires a significant number of separate modules and devices that makes it relevant to develop new approaches to the organization of control systems that correspond to complexity of the object. This work is aimed at the development of distributed control systems for robotic complexes. This paper presents the architecture of the distributed and centralized control system, also the generalized modules structure for its realization. The proposed architecture consists of three levels and it can be used for autonomous robotic complexes and unmanned vehicles for different applications. The generalized structure of the modules allows developing typical circuit solutions for sensor and actuating modules of the system. The control system of the mobile autonomous robotic platform for general purposes was developed and realized based on the proposed architecture. In this robotic complex the CANbus is used as internal system communication bus, through that the data exchange is accomplished between modules of devices level and high-level controller. The devices level of the robotic platform includes fourteen modules, including the modules of the motor-wheels control, in the example of that the application of the proposed generalized structure was considered.

show abstract

“…ROBIAN [19] has a 3-DoFs parallel-actuated mechanism for the hip joint. LISA [20] employs a 3-DoFs spherical parallel mechanism for the hip joint. The hip joint of RHP2 [21] consists of 2-DoFs closed linkage mechanism for the roll and pitch axes and 1-DoF rotary joint for the yaw axis.…”

Section: Hip Joint Actuationmentioning

confidence: 99%

Mechanics of humanoid robot

Hashimoto

2020

Advanced Robotics

View full text Add to dashboard Cite

The effects of mechanical system dynamics are often disregarded in the design process of humanoid robots. Sophisticated control methods may compensate for some limitations of the mechanical structure, however, principal limitations of the system performance can arise from poor mechanical architecture. Therefore, it is important to develop robot hardware that behaves close to an ideal model and that is easy to be modeled from the viewpoint of mechanics. This paper surveys the mechanics of humanoid robots from the viewpoint of joint mechanism, kinematic structure of the leg joints, and foot mechanisms. Firstly, the actuators and power transmission mechanisms for driving the joints are summarized. For the kinematic structure of leg joints, the characteristics of serial and parallel mechanisms are explained, and the specific configuration of the hip, knee and ankle joints are introduced. In order to make a robot move as close to the ideal movement as possible, we need to design the robot to reduce backlash at each joint. Various foot mechanisms are also introduced in the paper.

show abstract

Parallel Manipulator Hip Joint for a Bipedal Robot

Cited by 9 publications

References 4 publications

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Development of architecture and generalized modules structure for robotic complexes distributed control system for different applications

Mechanics of humanoid robot

Contact Info

Product

Resources

About