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Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot

This paper presents the development, modeling, and control of L03, an underactuated 3D bipedal robot with symmetrical hips and straight legs. This innovative design requires only five actuators, two for the legs and three for the hips. This paper is divided into three parts: (1) mechanism design and...

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Detalles Bibliográficos
Autores principales: Tang, Jun, Zhu, Yudi, Gan, Wencong, Mou, Haiming, Leng, Jie, Li, Qingdu, Yu, Zhiqiang, Zhang, Jianwei
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10452284/
https://www.ncbi.nlm.nih.gov/pubmed/37622945
http://dx.doi.org/10.3390/biomimetics8040340
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author Tang, Jun
Zhu, Yudi
Gan, Wencong
Mou, Haiming
Leng, Jie
Li, Qingdu
Yu, Zhiqiang
Zhang, Jianwei
author_facet Tang, Jun
Zhu, Yudi
Gan, Wencong
Mou, Haiming
Leng, Jie
Li, Qingdu
Yu, Zhiqiang
Zhang, Jianwei
author_sort Tang, Jun
collection PubMed
description This paper presents the development, modeling, and control of L03, an underactuated 3D bipedal robot with symmetrical hips and straight legs. This innovative design requires only five actuators, two for the legs and three for the hips. This paper is divided into three parts: (1) mechanism design and kinematic analysis; (2) trajectory planning for the center of mass and foot landing points based on the Divergent Component of Motion (DCM), enabling lateral and forward walking capabilities for the robot; and (3) gait stability analysis through prototype experiments. The primary focus of this study is to explore the application of underactuated symmetrical designs and determine the number of motors required to achieve omnidirectional movement of a bipedal robot. Our simulation and experimental results demonstrate that L03 achieves simple walking with a stable and consistent gait. Due to its lightweight construction, low leg inertia, and straight-legged design, L03 can achieve ground perception and gentle ground contact without the need for force sensors. Compared to existing bipedal robots, L03 closely adheres to the characteristics of the linear inverted pendulum model, making it an invaluable platform for future algorithm research.
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spelling pubmed-104522842023-08-26 Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot Tang, Jun Zhu, Yudi Gan, Wencong Mou, Haiming Leng, Jie Li, Qingdu Yu, Zhiqiang Zhang, Jianwei Biomimetics (Basel) Article This paper presents the development, modeling, and control of L03, an underactuated 3D bipedal robot with symmetrical hips and straight legs. This innovative design requires only five actuators, two for the legs and three for the hips. This paper is divided into three parts: (1) mechanism design and kinematic analysis; (2) trajectory planning for the center of mass and foot landing points based on the Divergent Component of Motion (DCM), enabling lateral and forward walking capabilities for the robot; and (3) gait stability analysis through prototype experiments. The primary focus of this study is to explore the application of underactuated symmetrical designs and determine the number of motors required to achieve omnidirectional movement of a bipedal robot. Our simulation and experimental results demonstrate that L03 achieves simple walking with a stable and consistent gait. Due to its lightweight construction, low leg inertia, and straight-legged design, L03 can achieve ground perception and gentle ground contact without the need for force sensors. Compared to existing bipedal robots, L03 closely adheres to the characteristics of the linear inverted pendulum model, making it an invaluable platform for future algorithm research. MDPI 2023-08-01 /pmc/articles/PMC10452284/ /pubmed/37622945 http://dx.doi.org/10.3390/biomimetics8040340 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Tang, Jun
Zhu, Yudi
Gan, Wencong
Mou, Haiming
Leng, Jie
Li, Qingdu
Yu, Zhiqiang
Zhang, Jianwei
Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot
title Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot
title_full Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot
title_fullStr Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot
title_full_unstemmed Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot
title_short Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot
title_sort design, control, and validation of a symmetrical hip and straight-legged vertically-compliant bipedal robot
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10452284/
https://www.ncbi.nlm.nih.gov/pubmed/37622945
http://dx.doi.org/10.3390/biomimetics8040340
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