Hostname: page-component-586b7cd67f-t7fkt Total loading time: 0 Render date: 2024-11-25T23:56:53.678Z Has data issue: false hasContentIssue false
  • English
  • Français

Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism

Published online by Cambridge University Press:  19 June 2019

Hongbin Zang ,
Dengfeng Zhao  and
Lianguan Shen
Hongbin Zang*
Affiliation:
Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China
Dengfeng Zhao
Affiliation:
Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China
Lianguan Shen
Affiliation:
Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Agile bionic leg mechanism (ABLM) has attracted more and more attention in the development of jumping robots and high-speed running robots. However, theoretical study of the global structure for motility characteristics and its evolution is few. By using the modern mathematical tools such as singular theory, geometric topology, and group theory, a global scale analysis method for kinematic performance of mechanisms is proposed. Taking 6-bar with two rings mechanism as an example, a detailed analysis process is studied. The 6-bar ABLM designed by this theory is verified by virtual prototype simulation experiment. The global scale analysis of 4-bar linkage is also carried out by using this method, and the result is compared with the “Grashof criterion” to verify the correctness of this method. It provides a general theory and method for innovative design and global scale analysis of ABLM.

Keywords

Agile bionic leg mechanismTheoretical studyGlobal scale analysis methodVerificationGeneral theory and method
Type
Articles
Information
Robotica , Volume 38 , Issue 3 , March 2020 , pp. 427 - 441
Copyright
© Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Murphy, M. P., Saunders, A. and Moreira, C., “The Little Dog robot,” Int. J. Robotics Res. 30, 145–149 (2011).CrossRefGoogle Scholar
Semini, C., HyQ—Design and Development of a Hydraulically Actuated Quadruped Robot, (Italian Institute of Technology, Genova, Italy, 2010).Google Scholar
Semini, C., Tsagarakis, N. G., Guglielmino, E., Focchi, M., Cannella, F. and G., D. Caldwell, “Design of HyQ a hydraulically and electrically actuated quadruped robot,” Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 6, 831–849 (2011).CrossRefGoogle Scholar
Zhang, J., Gao, F., Han, X., Chen, X. and Han, X., “Trot gait design and CPG method for a quadruped robot,” J. Bionic Eng. 11, 18–25 (2014).CrossRefGoogle Scholar
Li, M., Jiang, Z., Wang, P., Sun, L. and S., S. Ge, “Control of quadruped robot with bionic springy legs in trotting gait,” J. Bionic Eng. 11, 188–198 (2014).CrossRefGoogle Scholar
Wooden, D., Malchano, M. and Blankespoor, K., “Autonomous Navigation for BigDog,” IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA (2010) pp. 4736–4741.Google Scholar
Raibert, M., Blankespoor, K., Nelson, G. and Playter, R., “BigDog the Rough-Terrain Quadruped Robot,” Proceedings of the 17th World Congress, the International Federation of Automatic Control, Seoul, Korea (2008).CrossRefGoogle Scholar
Nie, H., Sun, R., Guo, C., Qin, G. and Yu, H., “Innovative design and performance evaluation of a high-speed bionic mechanical leg,” J. Bionic Eng. 12, 352–360 (2015).CrossRefGoogle Scholar
Dong, J. H., Sang, O. S., Lee, J. and Kim, S., “High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah,” Int. J. Robot. Res. 33, 1417–1445 (2014).Google Scholar
Guo, W., Cai, C., Li, M., Zha, F., Wang, P. and Wang, K., “A parallel actuated pantograph leg for high-speed locomotion,” J. Bionic Eng. 14, 202–217 (2017).CrossRefGoogle Scholar
Zhang, Z., Chen, D., Chen, K. and Chen, H., “Analysis and comparison of two jumping leg models for bioinspired locust robot,” J. Bionic Eng., 13, 558–571 (2016).CrossRefGoogle Scholar
Zhang, J., Song, G., Li, Y., Qiao, G., Song, A. and Wang, A., “A bio-inspired jumping robot: Modeling, simulation, design, and experimental results,” Mechatronics 23, 1123–1140 (2013).CrossRefGoogle Scholar
Nguyen, Q.-V. and Park, H. C., “Design and demonstration of a locust-like jumping mechanism for small-scale robots,” J. Bionic Eng. 9, 271–281 (2012).CrossRefGoogle Scholar
Li, F., Liu, W., Fu, X., Bonsignori, G., Scarfogliero, U., Stefanini, C. and Dario, P., “Jumping like an insect: Design and dynamic optimization of a jumping mini robot based on bio-mimetic inspiration,” Mechatronics 22, 167–176 (2012).CrossRefGoogle Scholar
Haldane, D. W., Plecnik, M. M., Yim, J. K. and Fearing, R. S., “Robotic vertical jumping agility via series-elastic power modulation,” Sci. Robot. 1, eaag2048 (2016).CrossRefGoogle Scholar
Park, J., Kim, K.-S. and Kim, S., “Design of a cat-inspired robotic leg for fast running,” Adv. Robot. 28(23), 1587–1598 (2014).CrossRefGoogle Scholar
Seok, S., Wang, A., Chuah, M. Y., Otten, D., Lang, J. and Kim, S., “Design Principles for Highly Efficient Quadrupeds and Implementation on the MIT Cheetah Robot,” IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, (2013) pp. 6–10.Google Scholar
Seok, S., Wang, A., Chuah, M. Y., Hyun, D. J., Lee, J., Otten, D. M., Lang, J. H. and Kim, S., “Design principles for energy-efficient legged locomotion and implementation on the MIT Cheetah robot,” IEEE/ASME Trans. Mechatron. 20, 1–13 (2014).Google Scholar
Seok, S., Wang, A., Chuah, M. Y. M., Hyun, D. J., Lee, J., Otten, D. M., Lang, J. H. and Kim, S., “Design principles for energy-efficient legged locomotion and implementation on the MIT cheetah robot,” IEEE/ASME Trans. Mechatron. 20, 1117–1129 (2015).CrossRefGoogle Scholar
The Planar Elliptical Runner, A Clever Two-Legged Robot That Can Run 12 mph on a Treadmill. [G/OL].[2017-05-02]. https://laughingsquid.com/planar-elliptical-runner-two-legged-robot-can-run-treadmill/Google Scholar
Handle Legs and Wheels: The best of Both Worlds[G/OL]. [2017-02-07]. https://www.bostondynamics.com/handleGoogle Scholar
Lei, J., Wang, F., Yu, H., Wang, T. and Yuan, P., “Energy efficiency analysis of quadruped robot with trot gait and combined cycloid foot trajectory,” Chin. J. Mech. Eng. 27(1), 138–145 (2014).CrossRefGoogle Scholar
Tian, X., Gao, F., Chen, X. and Qi, C., “Mechanism design and comparison for quadruped robot with parallel-serial leg,” J. Mech. Eng. 49(6), 81–88 (2013).CrossRefGoogle Scholar
Li, M., Jiang, Z. and Guo, W., “Single leg system of quadruped bionic robot,” Robot 36(1), 21–28 (2014).Google Scholar
Li, Y. B., Bin, B., Rong, X. W. and Meng, J., “Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot,” J. Shandong Univ. 41(5), 32–36 (2011).Google Scholar
Hui, C., Jian, M. and Xuewen, R., “Design and implementation of high-performance hydraulic drive of quadruped robot SCalf,” Robot 36(4), 385–391 (2014).Google Scholar
Agility Robotics Introduces Cassie, a Dynamic and Talented Robot Delivery Ostrich [G/OL].[2017-02-09]. http://spectrum.ieee.org/automaton/robotics/industrial-robots/agility-robotics-introduces-cassie-adynamic-and-talented-robot-delivery-ostrichGoogle Scholar
Hongbin, Z. and Lianguan, S., “Research and optimization design of mechanism for Theo Jansen Bionic Leg,” Chin. J. Mech. Eng. 53(15), 101–109 (2017).Google Scholar
Zhao, J., Xu, J., Gao, B., Xi, N., Cintron, F. J., Mutka, M. W. and Xiao, L. “MSU jumper: A single-motoractuated miniature steerable jumping robot,” IEEE Trans. Robot. 29, 602–614 (2013).CrossRefGoogle Scholar
Noh, M., Kim, S. W., An, S., Koh, J. S. and Cho, K. J., “Flea-inspired catapult mechanism for miniature jumping robots,” IEEE Trans. Robot. 28, 1007–1018 (2012).Google Scholar
Kenneally, G., De, A. and E., D. Koditschek, “Design principles for a family of direct-drive legged robots,” IEEE Robot. Autom. Lett. 1, 900–907 (2016).CrossRefGoogle Scholar
Duperret, J. M., Kenneally, G. D., Pusey, J. L. and Koditschek, D. E., “Towards a comparative measure of legged agility,” Exp. Robot. 109, 3–16 (2016).CrossRefGoogle Scholar
Hapeshi, K., “A review of nature-inspired algorithms,” J. Bionic Eng. 7, S232–S237 (2010).Google Scholar
Gao, F., Zhang, X. Q. and Zhao, Y. S., “A physical model of the solution space and the atlas of reachable workspace for 2-DOF parallel planar manipulators,” Mech. Mach. Theory 31(2), 173–184 (1996).Google Scholar
Zhao, D. F., “Dimension classification method of planar mechanism based on convex hull division,” Chin. J. Mech. Eng. 45(4), 100–104 (2009).CrossRefGoogle Scholar
Zhao, D. F., Zeng, G. Y. and Lu, Y. B., “The classification method of spherical single-loop mechanisms,” Mech. Mach. Theory 51(5), 46–57 (2012).CrossRefGoogle Scholar