Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

2021 ◽  
Author(s):  
Simone Asci ◽  
Ketao Zhang
Keyword(s):  
Legged Locomotion ◽  
Design Strategy ◽  
Research Field ◽  
Original Model ◽  
Legged Robots ◽  
Robotic Systems ◽  
Complex Control System ◽  
Robotic Leg ◽  
Novel Design ◽  
Original Configuration

Abstract Among mobile robotic research field, legged locomotion is largely applied for advanced robotic systems due to the higher degree of versatility compared to wheeled robots, which allows them to successfully move and interact in unstructured environments; nevertheless, legged robots present several designing problems and require a much more complex control system. Based on an effective robotic leg, this paper presents a novel design, which integrates a cam joint, aimed to improve the versatility performances minimizing changes in the original model and without increasing the control complexity. Furthermore, the design strategy aims to exploit the coupled action of two actuators, which are disposed in a novel configuration so to gain versatility advantage while maintaining velocity performances of legs equipped with a single actuator. The model is presented through a kinematic analysis, followed by the simulation of the leg mechanism trajectory and a comparison with the original configuration.

Towards Multi-Body Analyses for Advanced Flexible Robotic Systems

2017 ◽  
Author(s):  
Mariapaola D’Imperio ◽  
Carlo Canali ◽  
Darwin Caldwell ◽  
Ferdinando Cannella ◽  
Cristiano Pizzamiglio ◽  
...  
Keyword(s):  
Design Process ◽  
Development Process ◽  
Virtual Prototyping ◽  
Experimental Tests ◽  
Research Field ◽  
Robotic Systems ◽  
Global Competition ◽  
Physical Prototype ◽  
Multi Body ◽  
Robotic Leg

Manufacturers answered to the global competition rise by increasing the efficiency of their development process by substituing the hardware tests with their virtual counterpart. Following the same idea, in this paper, the introduction of the virtual prototyping technique in the design of a complex robotic leg is proposed. The novelty of this work is double: the first motivation lies on the characteristic of the mechanism, since it is a FLEXible jumping LEG; the second one, instead, regards to the introduction of methods well known in other research field but rarely used in robotics. This paper describes the whole design process, while the assembly of the physical prototype, the control development and the experimental tests will be matters of future works.

A novel design strategy of a practical carbon anode material from a single lignin-based surfactant source for sodium-ion batteries

2020 ◽  
Vol 56 (45) ◽  
pp. 6078-6081 ◽  
Author(s):  
Changhao Li ◽  
Yi Sun ◽  
Qiujie Wu ◽  
Xin Liang ◽  
Chunhua Chen ◽  
...  
Keyword(s):  
Anode Material ◽  
Design Strategy ◽  
Sodium Ion ◽  
Carbon Anode ◽  
Sodium Ion Batteries ◽  
Lignin Sulfonate ◽  
Novel Design

A schematic illustration showing the preparation of HCM from a single sodium lignin sulfonate source and the process of Na storage.

A bio-inspired robotic climbing robot to understand kinematic and morphological determinants for an optimal climbing gait

2021 ◽  
Author(s):  
Hendrik Beck ◽  
Johanna J Schultz ◽  
Christofer J Clemente
Keyword(s):  
Optimal Parameter ◽  
Legged Locomotion ◽  
Robotic Systems ◽  
Climbing Robot ◽  
Kinematic Parameters ◽  
Phase Dynamics ◽  
Complex Interactions ◽  
Optimal Dynamic ◽  
Speed Stability ◽  
Robotic Applications

Abstract Robotic systems for complex tasks, such as search and rescue or exploration, are limited for wheeled designs, thus the study of legged locomotion for robotic applications has become increasingly important. To successfully navigate in regions with rough terrain, a robot must not only be able to negotiate obstacles, but also climb steep inclines. Following the principles of biomimetics, we developed a modular bio-inspired climbing robot, named X4, which mimics the lizard’s bauplan including an actuated spine, shoulders, and feet which interlock with the surface via claws. We included the ability to modify gait and hardware parameters and simultaneously collect data with the robot’s sensors on climbed distance, slip occurrence and efficiency. We first explored the speed-stability trade-off and its interaction with limb swing phase dynamics, finding a sigmoidal pattern of limb movement resulted in the greatest distance travelled. By modifying foot orientation, we found two optima for both speed and stability, suggesting multiple stable configurations. We varied spine and limb range of motion, again showing two possible optimum configurations, and finally varied the centre of pro- and retraction on climbing performance, showing an advantage for protracted limbs during the stride. We then stacked optimal regions of performance and show that combining optimal dynamic patterns with either foot angles or ROM configurations have the greatest performance, but further optima stacking resulted in a decrease in performance, suggesting complex interactions between kinematic parameters. The search of optimal parameter configurations might not only be beneficial to improve robotic in-field operations but may also further the study of the locomotive evolution of climbing of animals, like lizards or insects.

A novel design strategy for deeper blue and more stable thermally activated delayed fluorescent emitters

2020 ◽  
Vol 78 ◽  
pp. 105610
Author(s):  
Hua Sun ◽  
Xiao Tan ◽  
Shenglong Sang ◽  
Qian Liu ◽  
Po Sun ◽  
...  
Keyword(s):  
Design Strategy ◽  
Thermally Activated ◽  
Novel Design

A Novel Design Strategy for Stable Metal Complexes of Nitrogen Mustards as Bioreductive Prodrugs

2004 ◽  
Vol 47 (23) ◽  
pp. 5683-5689 ◽  
Author(s):  
Laurie L. Parker ◽  
Stephen M. Lacy ◽  
Louis J. Farrugia ◽  
Cameron Evans ◽  
David J. Robins ◽  
...  
Keyword(s):  
Metal Complexes ◽  
Design Strategy ◽  
Nitrogen Mustards ◽  
Novel Design

Hydrogen peroxide electrochemical synthesis on hybrid double-atom (Pd–Cu) doped N vacancy g-C3N4: a novel design strategy for electrocatalyst screening

2020 ◽  
Vol 8 (5) ◽  
pp. 2672-2683 ◽  
Author(s):  
Yongyong Cao ◽  
Chenxia Zhao ◽  
Qiaojun Fang ◽  
Xing Zhong ◽  
Guilin Zhuang ◽  
...  
Keyword(s):  
Hydrogen Peroxide ◽  
Oxygen Reduction Reaction ◽  
Oxygen Reduction ◽  
Electrochemical Synthesis ◽  
Oxidation Process ◽  
Design Strategy ◽  
Reduction Reaction ◽  
Novel Design ◽  
Electrochemical Oxygen

The electrochemical oxygen reduction reaction (ORR) to afford hydrogen peroxide (H2O2) provides an alternative to the traditional anthraquinone oxidation process.

scholarly journals On designing an active tail for legged robots: simplifying control via decoupling of control objectives

2016 ◽  
Vol 43 (3) ◽  
pp. 338-346 ◽  
Author(s):  
Steve W. Heim ◽  
Mostafa Ajallooeian ◽  
Peter Eckert ◽  
Massimo Vespignani ◽  
Auke Jan Ijspeert
Keyword(s):  
Steady State ◽  
Trajectory Optimization ◽  
Stance Phase ◽  
Design Principle ◽  
Legged Locomotion ◽  
Content Type ◽  
Phase Dynamics ◽  
Running System ◽  
Light Tails ◽  
Novel Design

Purpose The purpose of this paper is to explore the possible roles of active tails for steady-state legged locomotion, focusing on a design principle which simplifies control by decoupling different control objectives. Design/methodology/approach A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. These models suggest that the overall control problem can be simplified and effectively decoupled via a proper tail design. This design principle is further explored in simulation using trajectory optimization. The results are then validated in hardware using a one degree-of-freedom active tail mounted on the quadruped robot Cheetah-Cub. Findings The results of this paper show that an active tail can greatly improve both forward velocity and reduce body-pitch per stride while adding minimal complexity. Further, the results validate the design principle of using long, light tails compared to shorter heavier ones. Originality/value This paper builds on previous results, with a new focus on steady-state locomotion and in particular deals directly with stance phase dynamics. A novel design principle for tails is proposed and validated.

A Method of Swing Leg Control for a Minimally Actuated Medical Exoskeleton for Individuals With Paralysis

2013 ◽  
Author(s):  
Jason I. Reid ◽  
Michael McKinley ◽  
Wayne Tung ◽  
Minerva Pillai ◽  
H. Kazerooni
Keyword(s):  
Energy Efficient ◽  
Degrees Of Freedom ◽  
Legged Locomotion ◽  
Swing Phase ◽  
Current Medical ◽  
Robotic Systems ◽  
State Dependent ◽  
Early Results ◽  
Natural Energy ◽  
Flexion And Extension

This paper discusses the control of a medical exoskeleton swing leg that has a “passive” (unactuated) knee. Previous work in legged locomotion has demonstrated the feasibility of achieving natural, energy efficient walking with minimally actuated robotic systems. This work will present early results for a medical exoskeleton that only has actuation that powers the flexion and extension of the biological hip. In this work, a hybrid model of the state dependent kinematics and dynamics of the swing leg will be developed and parameterized to yield swing hip dynamics as a function of desired knee flexion dynamics. This model is used to design swing hip motions that control the flexion behavior of the passive swing knee in a human-like manner. This concept was tested by a paraplegic user wearing a new minimally actuated exoskeleton. The presented results show that a human-like swing phase can be achieved with an exoskeleton that has fewer actuated degrees of freedom than current medical exoskeletons.

Sign in / Sign up

Export Citation Format

Share Document