Analysis and Optimization of One-Degree of Freedom Robotic Legs
Author:
Birglen Lionel1, Ruella Carlos2
Affiliation:
1. Professor Mem. ASME Robotics Laboratory, Department of Mechanical Engineering, Polytechnique Montreal, Montreal, QC H3C 3A7, Canada e-mail: 2. Robotics Laboratory, Department of Mechanical Engineering, Polytechnique Montreal, Montreal, QC H3C 3A7, Canada e-mail:
Abstract
Almost all walking robots are composed of two or more multi-degrees-of-freedom (DOFs) legs which give them a good ability to traverse obstacles. Nevertheless, their speed and efficiency when traversing rough terrains is, in most cases, arguably limited. Additionally, they have the disadvantage of a generally lower reliability. The design of robust and efficient 1-DOF leg is, on the other hand, a complex process. In this paper, a method to analyze and optimize 1-DOF robotic legs is proposed. The results of a virtual simulation are used in combination with some performance indices to optimize the geometric parameters of 1-DOF legs. Finally, the results of the simulation and the actual walking performance of a prototype using four legs with the computed optimal parameters are presented and compared with the simulator results. The validation of the simulation model and the optimization method proposed in this paper represents the main contribution of this work.
Publisher
ASME International
Subject
Mechanical Engineering
Reference25 articles.
1. Dwivedi, R., Kandpal, N., and Shukla, A., 2010, “Adaptive Suspension System,” 2nd IEEE International Conference on Information and Financial Engineering (ICIFE), Chongqing, China, September 17–19, pp. 694–697.10.1109/ICIFE.2010.5609451 2. Kilit, O., and Yontar, A., 2009, “Stability of a New Mars Rover With Multi-Stage Bogie Mechanism,” 4th International Conference on Recent Advances in Space Technologies (RAST’09), Istanbul, Turkey, June 11–13, pp. 145–149.10.1109/RAST.2009.5158185 3. Loc, V.-G., Koo, I. M., Trong, T., Kim, H. M., Moon, H., Park, S., and Choi, H. R., 2010, “A Study on Traversability of Quadruped Robot in Rough Terrain,” International Conference on Control Automation and Systems (ICCAS), Gyeonggi-do, South Korea, October 27–30, pp. 1707–1711. 4. Remy, C. D., Baur, O., Latta, M., Lauber, A., Hutter, M., Hoepflinger, M. A., Pradalier, C., and Siegwart, R., 2010, “Walking and Crawling With ALoF: A Robot for Autonomous Locomotion on Four Legs,” 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR, 2010), Nagoya, Japan, August 31–September, pp. 264–268. 5. Amagata, Y., Nakaura, S., and Sampei, M., 2008, “The Running of Humanoid Robot on Uneven Terrain Utilizing Output Zeroing,” SICE Annual Conference, Tokyo, Japan, August 20–22, pp. 2841–2846.10.1109/SICE.2008.4655149
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
|
|