The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We present a new class of gait generation and control algorithms based on the switching max-plus modeling framework that allows for the synchronization of multiple legs of walking robots. Transitions between stance and swing phases of each leg are modeled as discrete events on a system described by max-plus-linear state equations. Different gaits and gait parameters can be interleaved by using different...
This paper presents an 3D algorithm to estimate the motion trajectory of a four legged sliding robot considering the ground friction coefficient and the payload distribution at leg ends during walk on a flat ground including ascending or descending slopes. We formulate mathematical expression for estimating energy cost of motion utilizing the principle of virtual work under the condition where the...
Recent research on mobile robots is focused on locomotion in various environments. In this paper gait generation algorithm for a mobile robot that can locomote from ground to wall and climb vertical surfaces is proposed bio-inspired by a gecko lizard. The gait planning is based on the inverse-kinematics with the Jacobian of whole body, where the redundancy is solved by defining an object function...
This paper presents a design frame of a leg exoskeleton. The performance of an exoskeleton was analyzed by studying a model of a linear coupled 1-DOF human-exoskeleton system. The results showed that a low-impedance, anthropomorphic and well attached mechanical structure is benefit for the control of exoskeleton, and a direct force feedback control could also be implemented to further reduce the impedance...
Environmental adaptability plays an important role for humanoid robots to expand their applications. Based on force and torque information during foot-ground contact, this paper presents a strategy for humanoid robots to modify preplanned walking pattern by using foot-ground equivalent contact control. Firstly, swing foot landing course is described, then several representative foot-ground contact...
Stable walking conditions are reinforced for sliding & wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot...
To guarantee the walking stability of humanoid robots, a new joint trajectory planning method is proposed. First, to map the trajectory of task space into the trajectory of joint space, a numerical algorithm of inverse kinematics is used to obtain the time sequences of joint angle. In this algorithm, the return values calculated by forward kinematics are compared with the expected pose repeatedly...
New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with cart-table model based on the bipedal robot technique, the robot's center of mass trajectory is planned for the dynamic motion...
In this paper we summarize some basic principles of legged locomotion in animals and then discuss the application of the principles to the design and fabrication of a four-legged robot. The here presented model combines ideas for better locomotion of robots both in the biologically inspired, mechanically intelligent structure and in the bionic controller. The movement of the legs is triggered by bionic...
An obstacle avoidance method using virtual impedance wall is proposed for multi-legged robot. The swing leg employs compliance control to avoid the collided object and the robot keeps the moving direction as much as possible while swing legs keep a preferred operating region. The preferred operating region is surrounded with virtual impedance wall. When the leg comes to go over the threshold of preferred...
In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one wheel-leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and...
Four wheeled and four legged flexible personal robot is designed for a personal robot following a person indoors. This robot is expected to serve a various kind of service to a person and peoples with the tri-camera stereo vision system. This paper describes on the vision assisted stride over a step with the hybrid locomotion by wheels and legs.
A structural optimization method of a three-axis force sensor for robot fingers is proposed. To achieve dexterous hands like human hands, it is important to measure the forces loaded on robot fingers. We have been developing three-axis force sensors that can detect three-axis forces simultaneously with strain gauges. This sensor is small and can be produced inexpensively. However, because the proposed...
As the quality of life is rising constantly, the fitness industry has developed quickly, and the innovation and development of fitness equipment has been in high demand. In this paper, a new type of fitness bike is introduced. It is the so-called FDBFB (four-drive bionic fitness bike) which can be driven by either hands or legs, or any combination of any hand and leg as the user likes. By changing...
In this paper we deduce the evolution of a four wheeled active suspension rover from a five wheeled passive suspension rover. The aim of this paper is to design a suspension mechanism which utilizes the advantages of both passive suspension and active suspension rover. Both the design considered here are simpler than the existing suspension mechanisms in the sense that the number of links as wells...
In this paper, we aim at a paddling type of microrobot that can move in human organs such as intestines, even blood vessels as an assumption has a great potential application for microsurgery. Based on our researches, the structure of the paddling microrobot has been designed in this paper. By applying the alternate magnetic field, the paddling of developed microrobot can be manipulated with the frequency...
The design procedure for a new decoupled flexure-based XYZ compliant parallel-kinematics micropositioning stage is presented in this paper. The designed XYZ stage owns a compact structure constructed by three monolithic limbs and has both input and output decoupling properties. The output decoupling is allowed by the employment of a proposed 2-D compound parallelogram flexure, and the input decoupling...
This paper proposes motion instruction system with the interactive robot suit HAL (hybrid assistive limb) for supporting physically challenged persons, enhancing and expanding the human ability. HAL consists of external frames, actuators, various sensors, and a control PC with ethernet device and has not only been developed to assist the motion of wearer's body, but also can be applied to motion instruction...
The most important factor in powered walking based on passive dynamic walking is to counter-balance the energy which is lost at heel-strike. In this paper, we discuss a model with only one mass at the hip, which compensates the lost energy with the potential energy through extending and shortening the stance leg instantaneously over one walking cycle. The results show that there exists periodical...
The function of the locomotor system in human gait is still an open question. Today robot bipeds are not able to reproduce the versatility of human locomotion. In this article a robotic knee joint and an experimental setup are proposed. The leg function is tested and the acquired data is compared to human leg behaviour in running observed in experiments.
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.