{"title":"Design and Trajectory Planning of Bipedal Walking Robot with Minimum Sufficient Actuation System","authors":"H. Siswoyo Jo, N. Mir-Nasiri, E. Jayamani","volume":35,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":1399,"pagesEnd":1406,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/1106","abstract":"
This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This mechanism works together with the joint space trajectory planning in order to realize straight legged walking which cannot be achieved by conventional inverse kinematics trajectory planning due to the singularity. The effectiveness of the proposed strategy is confirmed by computer simulation results.<\/p>\r\n","references":"[1] C. Chevallereau and P. Sardain, \"Design and Actuation Optimization of\r\na 4 axes Biped Robot for Walking and Running,\" in Proc. IEEE Int.\r\nConf on Robotics and Automation, San Francisco, 2000, pp. 3365-3370.\r\n[2] M. Guihard and P. Gorce, \"Dynamic Control of Bipeds Using Ankle and\r\nHip Strategies,\" in Proc. IEEE\/RSJ Int. Conf. on Intelligent Robots and\r\nSystems, Lausanne, 2002, pp. 2587-2592.\r\n[3] H. Wongsuwarn and D. Laowattana, \"Experimental Study for a FIBO\r\nHumanoid Robot,\" in Proc. IEEE Int. Conf. on Robotics, Automation\r\nand Mechatronics, Bangkok, 2006, pp. 1-6.\r\n[4] K. Y. Yi, \"Locomotion of Biped Robot with Compliant Ankle Joint,\" in\r\nProc. IEEE Int. Conf. on Robotics and Automation, New Mexico, 1997,\r\npp. 199-204.\r\n[5] K. Loffler, M. Gienger and F. Pfeiffer, \"Sensor and Control Design of a\r\nDynamically Stable Biped Robot,\" in Proc. IEEE Int. Conf. on Robotics,\r\nAutomation and Mechatronics, Taipei, 2003, pp. 484-490.\r\n[6] K. Hirai, M. Hirose, Y. Haikawa and T. Takenaka, \"The Development of\r\nHonda Humanoid Robot,\" in Proc. IEEE Int. Conf. on Robotics,\r\nAutomation and Mechatronics, Leuven, 1998, pp. 1321-1326.\r\n[7] Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki and K.\r\nFujimura, \"The Intelligent ASIMO: System Overview and Integration,\"\r\nin Proc. IEEE Int. Conf. on Intelligent Robots and Systems, Lausanne,\r\n2002, pp. 2478-2483.\r\n[8] J. Yamaguchi, A. Takanishi, and I. Kato, \"Development of a Biped\r\nWalking Robot Compensating for Three-Axis Moment by Trunk\r\nMotion,\" in Proc. IEEE Int. Conf. on Intelligent Robots and Systems,\r\nYokohama, 1993, pp. 561-566.\r\n[9] J. Yamaguchi, E. Soga, S. Inoue and A. Takanishi, \"Development of a\r\nBipedal Humanoid Robot Control Method of Whole Body Cooperative\r\nDynamic Biped Walking,\" in Proc. IEEE Int. Conf. Robotics and\r\nAutomation, Michigan, 1999, pp. 368-374.\r\n[10] Q. Li, A. Takanishi and I. Kato, \"A Biped Walking Robot Having A ZMP\r\nMeasurement System Using Universal Force-Moment Sensors,\" in Proc.\r\nIEEE\/RSJ Int. Workshop on Intelligent Robots and Systems, Osaka,\r\n1991, pp. 1568-1573.\r\n[11] R. Kurazume, S. Tanaka and M. Yamashita, \"Straight Legged Walking\r\nof a Biped Robot,\" in Proc. IEEE\/RSJ Int. Conf. on Intelligent Robots\r\nand Systems, Alberta, 2005, pp. 3095-3101.\r\n[12] Y. Ogura, H. Lim and A. Takanishi, \"Stretch Walking Pattern\r\nGeneration for a Biped Humanoid Robot,\" in Proc. IEEE\/RSJ Int.\r\nWorkshop on Intelligent Robots and Systems, Nevada, 2003, pp. 352-\r\n357.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 35, 2009"}