Abstract
To increase the maximum payload, the joint arrangement of the Stewart platform type leg mechanism for a biped walking vehicle is optimized by a dynamic simulation and a real-coded genetic algorithm. Using effective joint arrangement, the maximum RMS (root-mean-square) value of the current will be able to be reduced. A new prototype of a biped walking vehicle, WL-16RIV, was developed by using the optimal joint arrangement method. Weight saving in some parts was also conducted. Through walking experiments, the maximum RMS value of the current was reduced, and the maximum payload was increased. The effectiveness of the proposed method was confirmed.
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
Preview
Unable to display preview. Download preview PDF.
References
Sugahara, Y.: Realization of Dynamic Human-Carrying Walking by a Biped Locomotor. In: Proc. of the IEEE ICRA 2004, pp. 3055–3060 (2004)
Sugahara, Y., et al.: Motion Pattern Generation for a Biped Walking Vehicle Using Dynamic Human Model. In: Proc. of the 2006 IEEE/RSJ IROS 2006, pp. 2497–2502 (2006)
Takita, K., et al.: Fundamental mechanism of dinosaur-like robot TITRUS-II utilizing coupled drive. In: Proc. of the IEEE/RSJ IROS 2000, pp. 1670–1675 (2000)
Ota, Y., Tamaki, T., Yoneda, K., Hirose, S.: Development of walking manipulator with versatile locomotion. In: Proc. of the IEEE ICRA 2003, pp. 477–483 (2003)
Konuma, Y., Hirose, S.: Development of 2 types of leg-wheel vehicle with the function of stable stair-climbing. In: Proc. of the 8th RSJ/JSME/SICE Robotics Symposia, pp. 160–167 (2003) (in Japanese)
Takeda, Y., Higuchi, M., Funabashi, H.: Development of a walking chair (Fundamental investigations for realizing a practical walking chair). In: Proc. of the CLAWAR 2001, pp. 1037–1044 (2001)
Kamada, T.: My Agent: A Practical Personal Assistant. In: Proc. of the JSME ROBOMEC 1994, pp. 1107–1112 (1994) (in Japanese)
Toyota Motor Corporation (2004), http://www.toyota.co.jp/en/news/04/1203_1d.html
Independence Technology, L.L.C. Webpage (2007), http://www.independencenow.com/ibot/index.html
Nakamura, Y.: Dynamics Computation of Parallel Mechanisms. J. of the Robotics Society of Japan 10(6), 709–714 (1992)
Eshelman, L.J., Schaffer, J.D.: Real-Coded Genetic Algorithms and Interval-Schemata. Foundations of Genetic Algorithms 2 (1993)
Satoh, H., Yamamura, M., Kobayashi, S.: Minimal Generation Gap Model for GAs Considering Both Exploration and Exploitation. In: Proc. of 4th Int. Conf. on Soft Computing, pp. 494–497 (1996)
Tsutsui, S., Yamamura, M., Higuchi, T.: Multi-parent Recombination with Simplex Crossover in Real Coded Genetic Algorithms. In: Proc. Of the GECCO 1999, pp. 657–664 (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hashimoto, K., Sugahara, Y., Lim, Ho., Takanishi, A. (2010). Optimization Design of a Stewart Platform Type Leg Mechanism for Biped Walking Vehicle. In: Kaneko, M., Nakamura, Y. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14743-2_15
Download citation
DOI: https://doi.org/10.1007/978-3-642-14743-2_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14742-5
Online ISBN: 978-3-642-14743-2
eBook Packages: EngineeringEngineering (R0)