Review and synthesis of a walking machine (Robot) leg mechanism

Terefe, Tesfaye Olana; Lemu, Hirpa G.; Mariam, Addisu

doi:10.1051/matecconf/201929008012

Cited by 4 publications

(2 citation statements)

References 14 publications

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“…[13] presents a passive exoskeleton with 17 DOF for load-carrying, which includes two 3 DOF ankle joints, two 2 DOF hip joints, two 1 DOF knee joints, a 1 DOF backpack, and redundant degrees of freedom at the thigh and the shank to improve the compatibility of human-machine locomotion. In [14], a mechanism has been designed for a walking robot, effectively minimizing the number of required motors, thereby contributing to reduced energy consumption. The dimensional synthesis is conducted analytically to formulate a parametric equation, and the resulting geometry of the leg mechanism is established.…”

Section: Introductionmentioning

confidence: 99%

Multicriteria Optimization of Lower Limb Exoskeleton Mechanism

Ibrayev,

Ibrayeva,

Rakhmatulina

et al. 2023

Applied Sciences

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Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees of freedom. The use of heavy servo-motors to handle torque in active joints results in complex and bulky designs, as highlighted in the existing literature. In this analytical study, we introduced a novel synthesis method with analytical solutions provided for synthesizing the lower-limb exoskeleton. Furthermore, we proposed a mathematical model of multicriteria optimization; as a result, we obtained several lower-limb exoskeleton mechanisms comprising only six links, well-suited to the human anatomical structure, exhibit superior trajectory accuracy, efficient force transmission, satisfactory step height, and having internal transfer segment of the foot.

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Section: Introductionmentioning

confidence: 99%

Multicriteria Optimization of Lower Limb Exoskeleton Mechanism

Ibrayev,

Ibrayeva,

Rakhmatulina

et al. 2023

Applied Sciences

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“…lo que a menudo resulta en la inmovilización del robot [3]. En la actualidad la expansión del uso de robots se está convirtiendo en un área de investigación y desarrollo más atractiva, dicha expansión ha llevado al desarrollo y avance en maquinaria automatizada dirigida a diferentes aplicaciones en disciplinas como la informática, aplicaciones médicas, campos de la ingeniería y la automatización juegan un papel importante en los avances de la robótica [4]. En este tema, exploraremos cómo el controlador PID se aplica al control de un robot insecto, y cómo esta combinación de biología y tecnología está allanando el camino para una nueva generación de máquinas autónomas capaces de moverse con la gracia y agilidad de los insectos naturales.…”

Section: Introductionunclassified

Control Y Movimiento De Un Robot Insecto: Un Enfoque Práctico Con Controladores Pid

Carbo

2023

Ecosur

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El estudio de este articulo se centra en la evaluación y conceptualización de un robot con forma de insecto, con un enfoque particular en la aplicación de controladores PID. Se investiga la correlación entre los aspectos anatómicos y conductuales de los insectos, junto con la precisión y adaptabilidad de los controladores PID, con el propósito de permitir a estos robots insectos desplazarse con eficiencia en entornos desafiantes. Este enfoque de investigación implica la integración de principios bioinspirados y técnicas de control avanzado dentro del ámbito de la robótica. Se destaca la importancia de la percepción ambiental mediante el uso de sensores y la implementación en tiempo real del controlador PID como elementos fundamentales en esta tecnología. El controlador PID emerge como una herramienta de gran potencial para lograr movimientos estables y precisos en un robot insecto, y su aplicación efectiva puede significativamente elevar las capacidades y el rendimiento de estos dispositivos. Además, se lleva a cabo un análisis de estabilidad para evaluar el comportamiento del robot en diversas condiciones, y se presentan los resultados de pruebas de desplazamiento del robot en diferentes superficies, variando las configuraciones del controlador PID y utilizando diferentes tipos de baterías. The present study focuses on the evaluation and conceptualization of an insect-like robot, with a particular focus on the application of PID controllers. The correlation between the anatomical and behavioral aspects of insects, along with the accuracy and adaptability of PID controllers, is investigated with the purpose of enabling these insect robots to move efficiently in challenging environments. This research approach involves the integration of bio-inspired principles and advanced control techniques within the field of robotics. It highlights the importance of environmental sensing using sensors and the real-time implementation of the PID controller as fundamental elements in this technology. The PID controller emerges as a tool with great potential to achieve stable and precise movements in an insect robot, and its effective application can significantly enhance the capabilities and performance of these devices. In addition, a stability analysis is carried out to evaluate the behavior of the robot under various conditions, and the results of robot displacement tests on different surfaces, varying the PID controller configurations and using different types of batteries are presented. Keywords: controllers, correlation, technology, PID.

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