Design and simulated characteristics of a new biped mechanism

被引：12

作者：

Li, Tao ^{[1
,2
]}

Ceccarelli, Marco ^{[2
]}

机构：

[1] Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou 213164, Jiangsu, Peoples R China

[2] Univ Cassino South Latium, LARM Lab Robot & Mechatron, I-03043 Cassino, FR, Italy

来源：

ROBOTICA | 2015年 / 33卷 / 07期

关键词：

Humanoid robots; Biped mechanisms; Dynamic simulation; Walking modes; Motion capability;

D O I：

10.1017/S0263574714000897

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new biped mechanism with low-cost easy-operation features. The mechanism is designed with functions for straight walking, changing direction, overcoming obstacle, and climbing stairs with only 7 DOFs (degrees of freedom). Dynamics of the biped mechanism are analyzed by means of simulations in the MSC. ADAMS environment. Simulation results in terms of motion torque, joint force, contact force, parts displacement, velocity, and acceleration are reported and analyzed to show the feasibility and efficiency of the proposed solution. In addition, with the simulation results, dynamical motion of the biped mechanism is investigated and its operation performances are characterized as well.

引用

页码：1568 / 1588

页数：21

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