Dynamics modeling and analysis of a biped walking robot actuated by a closed-chain mechanism

2004 ◽  
Vol 21 (12) ◽  
pp. 635-649 ◽  
Author(s):  
Hyeung-Sik Choi ◽  
Changyul Baek
Keyword(s):  
Chain Mechanism ◽  
Walking Robot ◽  
Dynamics Modeling ◽  
Biped Walking ◽  
Modeling And Analysis ◽  
Closed Chain ◽  
Biped Walking Robot

Development of a biped walking robot actuated by a closed-chain mechanism

Robotica ◽  
2005 ◽  
Vol 24 (1) ◽  
pp. 31-37 ◽  
Author(s):  
Hyeung-Sik Choi ◽  
Yong-Heon Park
Keyword(s):  
High Strength ◽  
Gear Ratio ◽  
Ball Screw ◽  
Walking Robot ◽  
Biped Walking ◽  
Link Mechanism ◽  
Closed Chain ◽  
Tracking Ability ◽  
New Type ◽  
Biped Walking Robot

We developed a new type of a human-sized BWR (biped walking robot) driven by the closed-chain type of a joint actuator. Each leg of the BWR is composed of three pitch joints and one roll joint. In all, a 12 degree-of-freedom robot, including four arm joints, was developed. The BWR was designed to walk autonomously; it is actuated by small 90W DC motors/drivers and is has DC batteries and controllers. A new type of the joint actuator for the BWR is composed of the four-bar-link mechanism driven by a ball screw which has high strength and high gear ratio despite its light weight.In this paper, analyses on the four-bar-link mechanism applied to the joint actuator and on the structure of the BWR are presented. Through walking experiments of the BWR, the superior trajectory-tracking ability of the proposed joint actuator is validated.

scholarly journals Development of a Biped Walking Robot Compensating for Three-Axis Moment by Trunk Motion.

1993 ◽  
Vol 11 (4) ◽  
pp. 581-586 ◽  
Author(s):  
Jin-ichi YAMAGUCHI ◽  
Atsuo TAKANISHI ◽  
Ichiro KATO
Keyword(s):  
Walking Robot ◽  
Biped Walking ◽  
Trunk Motion ◽  
Biped Walking Robot
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