Development of a novel leg mechanism in the shape of backward convex with a mechanical joint stop for bipedal robot

2014 ◽  
Author(s):  
Aiguo Ming ◽  
Toshinori Tahata ◽  
Kimitake Ueki ◽  
Makoto Shimojo
Keyword(s):  
Bipedal Robot ◽  
Mechanical Joint

Finite Element Analysis for Machine Joint

2010 ◽  
Vol 26-28 ◽  
pp. 198-203
Author(s):  
Tie Neng Guo ◽  
Ling Li ◽  
Li Gang Cai ◽  
Zhi Feng Liu
Keyword(s):  
Dynamic Characteristic ◽  
Maximum Error ◽  
Cnc Machine Tool ◽  
Cnc Machine ◽  
Element Analysis ◽  
Mechanical Joint ◽  
Result Show ◽  
Joint Element ◽  
Stiffness And Damping ◽  
Five Axis

The stiffness and damping of mechanical joint are modeled by the zero thickness joint interfaces theory. The method is applied to analyze the dynamic characteristic of the gantry frame in a five axis turning-milling compound CNC machine tool. The model test is carried out in the gantry frame, and the maximum error of the first sixth mode is 5.63%. The experimental and analysis result show the zeros thickness joint element can provide an effective method to model the machine joint and predict the dynamic characteristic of the assembled structure.

Liquid State Machine to Generate the Movement Profiles for the Gait Cycle of a 6 DOF Bipedal Robot in a Sagittal Plane

2018 ◽  
Author(s):  
Jesús Franco-Robles ◽  
Alejandro De Lucio-Rangel ◽  
Karla A. Camarillo-Gómez ◽  
Gerardo I. Pérez-Soto ◽  
Jesús Rivera-Guillén
Keyword(s):  
Time Series ◽  
Multilayer Perceptron ◽  
Liquid State ◽  
Gait Cycle ◽  
Sagittal Plane ◽  
Experimental Result ◽  
Forward Kinematics ◽  
Neuronal System ◽  
Bipedal Robot ◽  
Input Time

In this paper, a neuronal system with the ability to generate motion profiles and profiles of the ZMP in a 6DoF bipedal robot in the sagittal plane, is presented. The input time series for LSM training are movement profiles of the oscillating foot trajectory obtained by forward kinematics performed by a previously trained ANN multilayer perceptron. The profiles of objective movement for training are acquired from the analysis of the human walk. Based on a previous simulation of the bipedal robot, a profile of the objective ZMP will be generated for the y–axis and another for the z–axis to know its behavior during the training walk. As an experimental result, the LSM generates new motion profiles and ZMP, given a different trajectory with which it was trained. With the LSM it will be possible to propose new trajectories of the oscillating foot, where it will be known if this trajectory will be stable, by the ZMP, and what movement profile for each articulation will be required to reach this trajectory.

Fuzzy control for bipedal robot considering energy balance

2018 ◽  
Vol 11 (39) ◽  
pp. 1945-1952
Author(s):  
Jhonattan Gordillo ◽  
Fredy Martinez
Keyword(s):  
Energy Balance ◽  
Fuzzy Control ◽  
Bipedal Robot

scholarly journals Walking Trajectory Optimization With Rotation of the Feet for a Planar Bipedal Robot With Four-Bar Knees

2012 ◽  
Author(s):  
Arnaud Hamon ◽  
Yannick Aoustin
Keyword(s):  
Knee Joint ◽  
Trajectory Optimization ◽  
The Other ◽  
Bipedal Robot ◽  
Double Support ◽  
Walking Gait ◽  
Parametric Optimization Problem ◽  
Four Bar Linkage ◽  
Reference Trajectories ◽  
Support Phase

The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. We design walking reference trajectories with double support phases, single supports with a flat contact of the foot in the ground and single support phases with rotation of the foot around the toe. During the double support phase, both feet rotate. This phase is ended by an impact on the ground of the toe of one foot, the other foot taking off. The single support phase is ended by an impact of the swing foot heel, the other foot keeping contact with the ground through its toe. For both gaits, the reference trajectories of the rotational joints are prescribed by polynomial functions in time. A parametric optimization problem is presented for the determination of the parameters corresponding to the optimal cyclic walking gaits. The main contribution of this paper is the design of a dynamical stable walking gait with double support phases with feet rotation, impacts and single support phases for this novel bipedal robot.

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