Biped RCCR Mechanism

2009 ◽  
Vol 131 (3) ◽  
Author(s):  
Liu Chao ◽  
Yao Yan-An
Keyword(s):  
Stability Analysis ◽  
Kinematic Analysis ◽  
Biped Walking ◽  
Gait Planning ◽  
Singular Configuration ◽  
Walking Mechanism

An untraditional application of the four-link RCCR (two revolute and two cylindric joints) mechanism is presented in this paper and is used as a novel biped walking mechanism. By taking advantage of the singular configuration of the mechanism, two actuators are employed to realize planar movements. Kinematic analysis, gait planning, and stability analysis are performed, and a prototype is developed and tested.

scholarly journals Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097634
Author(s):  
Huan Tran Thien ◽  
Cao Van Kien ◽  
Ho Pham Huy Anh
Keyword(s):  
Inverse Kinematics ◽  
Biped Robot ◽  
Step Length ◽  
Jaya Algorithm ◽  
Kinetic Chain ◽  
Biped Walking ◽  
Gait Planning ◽  
Multi Objective ◽  
Simulation And Experiment ◽  
Stable Gait

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

Static and Stability Analysis of a Planar Compliant Tensegrity Mechanism

2018 ◽  
Author(s):  
Miranda M. Tanouye ◽  
Vishesh Vikas
Keyword(s):  
Stability Analysis ◽  
Kinematic Analysis ◽  
Equations Of Motion ◽  
Computation Complexity ◽  
Free Length ◽  
Linear Behavior ◽  
Rigid Rods ◽  
Non Linear ◽  
Stable Solutions ◽  
Linear Nature

Traditional tensegrity mechanisms are comprised of compressive (rigid rods) and tensile members (strings). Compliant tensegrity mechanisms (CoTM) introduce springs alongside strings and rods, allowing these structures to be more adaptable and robust. The kinematic and stability analyses of such mechanisms will facilitate better behavioral understanding for control of such structures. Generally, the kinematic analysis assumes zero-free length (ZFL) springs which facilitates simplification of equations of motion. However, a general ZFL does not exist and the relaxation of ZFL assumption for a CoTM introduces computational complexities resulting from their non-linear nature. The research considers equilibrium and stability analysis of a planar CoTM mechanism consisting of two triangular platforms connected by a compressive member and two spring elements. For an assumed numerical example, the analysis illustrates the increase in computation complexity, and non-linear behavior of equilibrium and stable solutions as assumption is relaxed from 1) both spring ZFL, to 2) one spring ZFL, and 3) no spring ZFL.

Design of a robust self-excited biped walking mechanism

2004 ◽  
Vol 39 (12) ◽  
pp. 1385-1397 ◽  
Author(s):  
V. Sangwan ◽  
A. Taneja ◽  
S. Mukherjee
Keyword(s):  
Biped Walking ◽  
Walking Mechanism

Biped Walking Robot Gait Planning Research

2013 ◽  
Vol 706-708 ◽  
pp. 674-677
Author(s):  
Hai Long Chen ◽  
Xiao Wu ◽  
Jun Du ◽  
Jin Ping Tang
Keyword(s):  
Degrees Of Freedom ◽  
Original System ◽  
System Model ◽  
Walking Robots ◽  
Walking Robot ◽  
Transformation Theory ◽  
Biped Walking ◽  
Gait Planning ◽  
Biped Walking Robot ◽  
Build System

This paper uses biped walking robot as the research object, and designs robots original system, based on the requirements of Biped Walking Robot Competition of China. According to the biped walking robots characteristics of multi-joints, many degrees of freedom, multivariable, strong coupling and nonlinearity [, we can build system model using the Denavi - Hartenberg coordinate, describe the system model by the homogeneous coordinate transformation theory, and then plan on system gait based on ZMP stability . Finally, we can solve for the joint trajectory of the system by using computer-aided software.

Ground Mobile Schatz Mechanism

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Chao Liu ◽  
Shun Yao ◽  
Hao Wang ◽  
Yan-An Yao
Keyword(s):  
Stability Analysis ◽  
Opposite Direction ◽  
Relative Position ◽  
Degree Of Freedom ◽  
Landing Point ◽  
Gait Planning ◽  
Straight Line ◽  
Constant Direction ◽  
Locomotion Analysis

We put forward a novel proposition that a mechanism can move in a constant direction and change its moving directions only by one actuator and construct a single-DOF (degree of freedom) ground mobile mechanism based on the well-known Schatz mechanism. This ground mobile Schatz mechanism has six links, one of which is designed as a spoke octahedron and an other one as a tail link. When the actuator rotates in one direction, the spoke octahedron can roll on the ground to let the ground mobile Schatz mechanism to move in a straight line pushed by the tail link. When the actuator rotates in the opposite direction, the tail link can be lifted to change its landing point and the relative position between it and the spoke octahedron, then the spoke octahedron can roll in another direction pushed by the tail link. In addition, it is also an untraditional application of the Schatz mechanism that it is used as a novel ground mobile mechanism. Locomotion analysis, gait planning and stability analysis are performed, respectively, and a prototype is developed and tested.

Fluctuation of Biped Walking Mechanism Based on a New Two-Level Type Half-Rotating Mechanism

2010 ◽  
Vol 139-141 ◽  
pp. 877-880
Author(s):  
Shu Bin Ou ◽  
Zhi Zhen Qiu ◽  
Xiao Yi Wang ◽  
Li Ya Hou
Keyword(s):  
Optimal Design ◽  
Theoretical Analysis ◽  
Simulation Program ◽  
Biped Walking ◽  
Motion Characteristics ◽  
Walking Mechanism ◽  
Relationship Of ◽  
The Relationship

. A new bionic biped walking mechanism (BWM) was put forward in this paper. Simple in construction, easy in control and droved by usual motor are all advantages of this mechanism. But disadvantage should not be ignored. Especially up and down bumpy of the centroid will influence the smoothness of the motion during walk. Through theoretical analysis of kinematics, motion characteristics and the movement of the spindle were obtained in a circle. To aim to bring down the uneven of the BWM, the relationship of all parameters was found and the scope of the fluctuation was established. In the end, all of the results were verified by simulation program of Matlab. The result provided theoretical guidance for optimal design of the mechanism in the further research.

scholarly journals Empirical and finite element based stability analysis of highway cut slopes in Uttarakhand Himalayan terrain, India

2020 ◽  
Vol 11 (1) ◽  
Author(s):  
Hari Om Singh ◽  
Tariq Anwar Ansari ◽  
T. N. Singh ◽  
K. H. Singh
Keyword(s):  
Numerical Simulation ◽  
Finite Element Method ◽  
Finite Element ◽  
Rock Mass ◽  
Stability Analysis ◽  
Slope Stability ◽  
Kinematic Analysis ◽  
Empirical Methods ◽  
Geotechnical Data ◽  
Cut Slopes

AbstractThe present paper deals with different empirical methods and finite element method of slope stability analysis along National Highway (NH)-7, in Uttarakhand, India. The highway is only path in the hilly terrain of Lesser Himalayan for the public transport and have strategic importance due to militaries possession routes. This route is also significant due to having many holistic places, connecting to this. There was numerous landslides happened along the Highway in past due to various natural and anthropogenic activities. Hence, keeping an eye to the socio-economic development of the distant area, slope stability analysis is very crucial along the road cut sections. To identify the vulnerable locations and to collect the geotechnical data, the field investigation was carried out between Shivpuri to Byasi along NH-7 in Garhwal, Uttarakhand. Then geotechnical data was intended followed by rock mass characteristic, kinematic analysis and Qslope stability. Additionally, to review the stability results, numerical simulation (finite element method) was employed and slope mass behavior and failure mechanism of cut slopes were also evaluated. The rock mass characteristic and kinematic analysis illustrate normal and good variety of rock mass mainly wedge mode with flexural toppling of failure. The slope mass rating, continuous slope mass rating and also Qslope stability analysis showed, road cut slopes are critically stable and unstable. The results of different empirical methods shows a decent correlation between them. Further the numerical simulation analysis also evaluates that two cut slopes are unstable and other one is critically stable. This substantial empirical and numerical analysis of cut slopes provides a collective approach to stable and develop the holistic road corridor in Himalayan terrain.

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