Cargando…
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...
Autores principales: | , , , , , , , |
---|---|
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 |
_version_ | 1785095630742355968 |
---|---|
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. |
format | Online Article Text |
id | pubmed-10452284 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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 |
work_keys_str_mv | AT tangjun designcontrolandvalidationofasymmetricalhipandstraightleggedverticallycompliantbipedalrobot AT zhuyudi designcontrolandvalidationofasymmetricalhipandstraightleggedverticallycompliantbipedalrobot AT ganwencong designcontrolandvalidationofasymmetricalhipandstraightleggedverticallycompliantbipedalrobot AT mouhaiming designcontrolandvalidationofasymmetricalhipandstraightleggedverticallycompliantbipedalrobot AT lengjie designcontrolandvalidationofasymmetricalhipandstraightleggedverticallycompliantbipedalrobot AT liqingdu designcontrolandvalidationofasymmetricalhipandstraightleggedverticallycompliantbipedalrobot AT yuzhiqiang designcontrolandvalidationofasymmetricalhipandstraightleggedverticallycompliantbipedalrobot AT zhangjianwei designcontrolandvalidationofasymmetricalhipandstraightleggedverticallycompliantbipedalrobot |