Hostname: page-component-586b7cd67f-2plfb Total loading time: 0 Render date: 2024-11-22T05:50:15.087Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and operation of a tripod walking robot via dynamics simulation

Published online by Cambridge University Press:  12 October 2010

Conghui Liang ,
Hao Gu ,
Marco Ceccarelli  and
Giuseppe Carbone
Conghui Liang*
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy. E-mails: [email protected], [email protected], [email protected]
Hao Gu
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy. E-mails: [email protected], [email protected], [email protected]
Marco Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy. E-mails: [email protected], [email protected], [email protected]
Giuseppe Carbone
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy. E-mails: [email protected], [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

A mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

Keywords

Legged walking machinesTripod walking robotsLeg mechanismsDynamics simulation
Type
Articles
Information
Robotica , Volume 29 , Issue 5 , September 2011 , pp. 733 - 743
Copyright
Copyright © Cambridge University Press 2010

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

1.Song, S. M. and Waldron, K. J., Machines That Walk-The Adaptive Suspension Vehicle (The MIT press, Cambridge, 1989).Google Scholar
2.González-de-Santos, P., Garcia, E. and Estremera, J., Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots (Springer-Verlag, New York, 2006).Google Scholar
3.Carbone, G. and Ceccarelli, M., “Legged Robotic Systems,” Cutting Edge Robotics ARS Scientific Book (Springer-Verlag, Wien, 2005) pp. 553–576.Google Scholar
4.Siciliano, B. and Khatib, O., Springer Handbook of robotics, Part G, legged robots (Springer-Verlag, Berlin Heidelberg, 2008).Google Scholar
5.Vukobratovic, M., Borova, B., Surla, D. and Storic, D., Biped Locomotion: Dynamic Stability, Control and Application (Springer-Verlag, New York, 1989).Google Scholar
6.Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K. and Hirukawa, H., “Biped walking pattern generation by using preview control of zero-moment point,” Int. Conf. Robot. Autom. Taiwan, 1, 1620–1626 (2003).Google Scholar
7.Sugihara, T., Nakamura, Y. and Inoue, H., “Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control,” Int. Conf. Robot. Autom. Washington, DC, 1, 1404–1409 (2002).Google Scholar
8.Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N. and Tanie, K.. “Planning walking patterns for a biped robot,” IEEE Trans. Robot. Autom. 17 (3), 280–289 (2001).Google Scholar
9.Raibert, M., “BigDog, the Rough-Terrain Robot,” 17th IFAC World Congress, Plenary Talk, (2008).Google Scholar
10.Buehler, M., “Dynamic locomotion with one, four and six-legged robots,” J. Robot. Soc. Japan 20 (3), 15–20 (2002).Google Scholar
11.Dennis, W. H., “Biologically inspired locomotion strategies: novel ground mobile robots at RoMeLa,” 3rd Int. Conf. Ubiquitous Robot. Ambient Intelligence. 1, 23–28 (2006).Google Scholar
12.Wilcox, B. H., Litwin, T., Biesiadecki, J., Matthews, J., Heverly, M., Morrison, J., Townsend, J., Ahmad, N., Sirota, A. and Cooper, B., “Athlete: A cargo handling and manipulation robot for the moon,” J. Field Robot. 24 (5), 421–434 (2007).Google Scholar
13.Liang, C., Ceccarelli, M. and Carbone, G., “A novel biologically inspired tripod walking robot,” 13th WSEAS Int. Conf. Computers. Rodos Island, 60 (141), 83–91 (2009).Google Scholar
14.Heaston, J. R., Master's thesis: Design of a Novel Tripedal Locomotion Robot and Simulation of a Dynamic Gait for a Single Step (VA: Polytechnic Institute and State University, Blacksburg, 2006).Google Scholar
15.Kamerling, D. and Larochelle, P., “Proposed design of a triped robot,” Florida Conf. Rec. Adv. Robot. Florida, 1, 253–258 (2007).Google Scholar
16.Hiromasa, I., Kazuhiro, F., Naomichi, O. and Kazuhisa, M., “Mechanism and control of a tripedal walking robot,” Nippon Robotto Gakkai Gakujutsu Koenkai Yokoshu 18, 215–216, (2000).Google Scholar
17.Ottaviano, E., Ceccarelli, M. and Tavolieri, C., “Kinematic and Dynamic Analyses of a Pantograph-Leg for a Biped Walking Machine”, In CD Proceedings of the 7th International Conference on Climbing and Walking Robots (CLAWAR 2004), Madrid, Spain (2004), Paper: A019.Google Scholar
18.Liang, C., Ceccarelli, M. and Takeda, Y., “Operation Analysis of a One-DOF Pantograph Leg Mechanism”, In CD Proceedings of the 17th International Workshop on Robotics in Alpe-Adria-Danube Region, Ancona (2008), Paper: 50.Google Scholar
19.Rose, J. and Gamble, J., Human Walking – the 3rd Edition (Lippincott Williams & Wilkins, 2005).Google Scholar