Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot

Abstract

Reconfigurable legged robots based on one degree of freedom are highly desired because they are effective on rough and irregular terrains and they provide mobility in such terrain with simple control schemes. It is necessary that reconfigurable legged robots should maintain stability during rest and motion, with a minimum number of legs while maintaining their full range of walking patterns resulting from different gait configuration. In this paper we present a method to generate input trajectory for reconfigurable quadruped robots based on Klann mechanism to properly synchronize movement. Six useful gait cycles based on this reconfigurable Klann mechanism for quadruped robots has been clearly shown here. The platform stability for these six useful gait cycles are validated through simulated results which clearly shows the capabilities of reconfigurable design.

Multicriteria Optimization of Lower Limb Exoskeleton Mechanism

“…The Klann linkage is another single DOF walking mechanism that is patented and is widely used on multi-legged robots [24][25][26][27]. The capabilities of standard non-reconfigurable quadruped Klann legs can be significantly extended by applying the method proposed in [24].…”

“…The Klann linkage is another single DOF walking mechanism that is patented and is widely used on multi-legged robots [24][25][26][27]. The capabilities of standard non-reconfigurable quadruped Klann legs can be significantly extended by applying the method proposed in [24]. Reconfigurable legged robots based on the 1 DOF Klann mechanism are highly desired because they are effective on rough and irregular terrains, and they provide mobility in such terrain with simple control schemes.…”

Metrology and Measurement Systems

“…Also, they have high ability in walking in complex and unstructured environments such as industrial sites or disaster areas [4], variable geometry, manoeuvrability, omnidirectional movement, low footprint, high fault tolerance, faster walking speed and a large number of different gaits available [5]. Any modification of gait configurations results in numerous opportunities for optimization as well as research challenges [6]. Finally, robots with six or more legs do not usually require profound dynamic kinematics analysis, because of their static and dynamic stability.…”