Abstract
In the past decades, an extensive research has been focused on legged walking robots. One of the most attractive trends in the design of walking robots is the development of biped robots with reduced number of degrees of freedom. This paper deals with a new solution of a legged walking mechanism with reduced number of degrees of freedom. It consists of a driven cam system mounted on the body frame and connected with feet via pantograph mechanisms. The introduced adjustable parameters allow one to generate two different steps with variable heights as well as allow the robot to climb stairs. The efficiency of the suggested design principle of the legged walking robot is illustrated by numerical simulations carried out via ADAMS software.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Kato, I., Tsuiki, H.: The hydraulically powered biped walking machine with a high carrying capacity. In Proceedings of the Fourth International Symposium on Extremal Control of Human Extremities, Dubrovnik, Yugoslavia, pp. 410–421, Sept 1972
Takanishi, A., Ishida, M., Yamazaki, Y., Kato, I.: Realization of dynamic walking by the biped walking robot WL-10RD. In: Japan Industrial Robot Association, N°8, pp. 459–466 (1985)
Takanishi, A., Egusa, Y., Tochizawa, M., Takeya, T., Kato, I.: Realization of dynamic biped walking stabilized with trunk motion. ROMANSY 7, 68–79 (1988)
Vukobratovic, M., Juricic, D.: Contribution to the synthesis of biped gait. IEEE Trans. Biomed. Eng. 16(1), 1–6 (1969)
Vukobratovic, M.: Legged locomotion robots and anthropomorphic mechanisms (in English), Mihailo Pupin Institute, Belgrade (1975) (also published in Japanese, Nikkan Shimbun Ltd. Tokyo, 1975; in Russian, “MIR”, Moscow, 1976 in Chinese, Beijing, 1983)
Raibert, M.H.: Legged robots that balance. MIT Press, Cambridge (1986)
Gubina, F., Hemami, H., McGhee, R.B.: On the dynamic stability of biped locomotion. IEEE Trans. Biomed. Eng. BME 21(2), 102–108 (1974)
McGhee, R.B.: Vehicular legged locomotion. In: Saridis, G.N. (ed.) Advances in Automation and Robotics, pp. 259–284. JAI Press, New York (1985)
Waldron, K.A.: Force and motion management in legged locomotion. IEEE J. Robot. Autom. 2(4), 214–230 (1986)
Waldron, K.J., McGhee, R.B.: The adaptive suspension vehicle. IEEE Contr. Syst. Mag. 6, 7–12 (1986)
Song, S.M., Waldron, K.J.: Machines that walk: the adaptive suspension vehicle. The MIT Press, Cambridge (1989)
McGeer, T.: Passive dynamic walking. Int. J. Robot. Res. 9(2), 62–82 (1990)
Carbone, G., Ceccarelli, M.: Legged Robotic Systems, pp. 553–576. Cutting Edge Robotics ARS Scientific Book, Wien (2005)
Funabashi, H., Horie, M., Tachiya, H., Tanio, S.: A synthesis of robotic pantograph mechanisms based on working spaces and static characteristics charts. JSME Int. J. Ser. III, 34(2) 239–244 (1991)
Shieh, W.B., Tsai, L.W., Azarm, S.: Design and optimization of a one-degree-of-freedom six-bar leg mechanism for a walking machine. J. Robot. Syst. 14(12), 871–880 (1997)
Ottaviano, E., Lanni, C., Ceccarelli, M.: Numerical and experimental analysis of a pantograph-leg with a fully-rotative actuating mechanism. In: Proceeding of the 11th World Congress in Mechanism and Machine Science, Tianjin, China, 18–21 Aug 2004
Ottaviano, E., Ceccarelli, M., Tavolieri, C.: Kinematic and dynamic analyses of a pantograph-leg for a biped walking machine. In: 7th International Conference on Climbing and Walking Robots CLAWAR, Madrid, Paper A019 (2004)
Ling, C., Ceccarelli, M., Takeda, Y.: Operation analysis of a one-DOF pantograph leg mechanism. In: Proceedings of the RAAD 2008, Ancona, Italy, 15–17 Sept 2008
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing Switzerland
About this paper
Cite this paper
Zhang, Y., Arakelian, V., Le Baron, JP. (2017). Design of a Legged Walking Robot with Adjustable Parameters. In: Beran, J., Bílek, M., Žabka, P. (eds) Advances in Mechanism Design II. Mechanisms and Machine Science, vol 44. Springer, Cham. https://doi.org/10.1007/978-3-319-44087-3_9
Download citation
DOI: https://doi.org/10.1007/978-3-319-44087-3_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-44086-6
Online ISBN: 978-3-319-44087-3
eBook Packages: EngineeringEngineering (R0)