Development of Walking Machines: Novel Leg Drive Design and Control
In this paper, a novel design of a leg drive mechanism, hardware architecture and leg control method is described for a walking machine being developed for the study of various walking gait strategies. The leg mechanism employs an inverse differential gear drive system, to provide a large leg lift and swing sweep angle on a common pivotal point while being driven collectively by a pair of motors. The development platform consists of a pair of legs mounted adjacent to each other on a linear slide. A 3-axis piezo transducer is mounted on the foot to measure the various vector forces in the leg during the walking phase. The description of this unique leg drive system, the hardware architecture used, the position and force control strategy adopted, force sensing results gathered from the 3 axis force sensor, power conservation methods are discussed and presented.
KeywordsForce Control Hardware Architecture Support Phase Driver Process Linear Slide
Unable to display preview. Download preview PDF.
- Hartikainen, K. (1996). Motion Planning of a Walking Platform Designed to Locomote on Natural Terrain. Helsinki Univ. of Technology.Google Scholar
- Klein, Ch.A., Kittivatcharapong, S. (1990). Optimal force distribution for the legs of a walking machine with friction cone constraints. IEEE Trans. On Robotics and Automation., 5 (1), 3–85Google Scholar
- Manko, D.J. (1992). A General Model of Legged Locomotion on Natural Terrain. Kluver Academic Publishers.Google Scholar
- Song, S. M., Waldron, K.J. (1986). Geometric design of a walking machine for optimal mobility. Transactions of The ASME: Journal of Mechanisms, Transmissions, and Automation in Design, Dec., 1–8Google Scholar
- Loh, J., Heng, J., Sect, G., Sim, S.K. (1998). Behavior-based Search using Small Autonomous Mobile Robot Vehicles Proc. 2nd Knowledge-Based Intelligent Electronic Systems International Conference, Adelaide, Australia, Apr. 21st to 23rd, 3, 294–301Google Scholar
- Heng, J (1997). ALV Design and Developmental Work — Interim Report, Dec. Nanyang Technological University, School of MPE, Nanyang Ave, Singapore 639–798Google Scholar
- Zielinska, T. (1997). Utilisation of biological patterns in reference trajectories generation of walking machines. IEEE 8th Int. Conference on Advanced Robotics. Workshop II: New Approaches on Dynamics Walking and Climbing Machines. Monterey, California, USA, 92–104.Google Scholar