Design and Trajectory Planning of Bipedal Walking Robot with Minimum Sufficient Actuation System
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.
[1] C. Chevallereau and P. Sardain, "Design and Actuation Optimization of
a 4 axes Biped Robot for Walking and Running," in Proc. IEEE Int.
Conf on Robotics and Automation, San Francisco, 2000, pp. 3365-3370.
[2] M. Guihard and P. Gorce, "Dynamic Control of Bipeds Using Ankle and
Hip Strategies," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and
Systems, Lausanne, 2002, pp. 2587-2592.
[3] H. Wongsuwarn and D. Laowattana, "Experimental Study for a FIBO
Humanoid Robot," in Proc. IEEE Int. Conf. on Robotics, Automation
and Mechatronics, Bangkok, 2006, pp. 1-6.
[4] K. Y. Yi, "Locomotion of Biped Robot with Compliant Ankle Joint," in
Proc. IEEE Int. Conf. on Robotics and Automation, New Mexico, 1997,
pp. 199-204.
[5] K. Loffler, M. Gienger and F. Pfeiffer, "Sensor and Control Design of a
Dynamically Stable Biped Robot," in Proc. IEEE Int. Conf. on Robotics,
Automation and Mechatronics, Taipei, 2003, pp. 484-490.
[6] K. Hirai, M. Hirose, Y. Haikawa and T. Takenaka, "The Development of
Honda Humanoid Robot," in Proc. IEEE Int. Conf. on Robotics,
Automation and Mechatronics, Leuven, 1998, pp. 1321-1326.
[7] Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki and K.
Fujimura, "The Intelligent ASIMO: System Overview and Integration,"
in Proc. IEEE Int. Conf. on Intelligent Robots and Systems, Lausanne,
2002, pp. 2478-2483.
[8] J. Yamaguchi, A. Takanishi, and I. Kato, "Development of a Biped
Walking Robot Compensating for Three-Axis Moment by Trunk
Motion," in Proc. IEEE Int. Conf. on Intelligent Robots and Systems,
Yokohama, 1993, pp. 561-566.
[9] J. Yamaguchi, E. Soga, S. Inoue and A. Takanishi, "Development of a
Bipedal Humanoid Robot Control Method of Whole Body Cooperative
Dynamic Biped Walking," in Proc. IEEE Int. Conf. Robotics and
Automation, Michigan, 1999, pp. 368-374.
[10] Q. Li, A. Takanishi and I. Kato, "A Biped Walking Robot Having A ZMP
Measurement System Using Universal Force-Moment Sensors," in Proc.
IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, Osaka,
1991, pp. 1568-1573.
[11] R. Kurazume, S. Tanaka and M. Yamashita, "Straight Legged Walking
of a Biped Robot," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots
and Systems, Alberta, 2005, pp. 3095-3101.
[12] Y. Ogura, H. Lim and A. Takanishi, "Stretch Walking Pattern
Generation for a Biped Humanoid Robot," in Proc. IEEE/RSJ Int.
Workshop on Intelligent Robots and Systems, Nevada, 2003, pp. 352-
357.
[1] C. Chevallereau and P. Sardain, "Design and Actuation Optimization of
a 4 axes Biped Robot for Walking and Running," in Proc. IEEE Int.
Conf on Robotics and Automation, San Francisco, 2000, pp. 3365-3370.
[2] M. Guihard and P. Gorce, "Dynamic Control of Bipeds Using Ankle and
Hip Strategies," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and
Systems, Lausanne, 2002, pp. 2587-2592.
[3] H. Wongsuwarn and D. Laowattana, "Experimental Study for a FIBO
Humanoid Robot," in Proc. IEEE Int. Conf. on Robotics, Automation
and Mechatronics, Bangkok, 2006, pp. 1-6.
[4] K. Y. Yi, "Locomotion of Biped Robot with Compliant Ankle Joint," in
Proc. IEEE Int. Conf. on Robotics and Automation, New Mexico, 1997,
pp. 199-204.
[5] K. Loffler, M. Gienger and F. Pfeiffer, "Sensor and Control Design of a
Dynamically Stable Biped Robot," in Proc. IEEE Int. Conf. on Robotics,
Automation and Mechatronics, Taipei, 2003, pp. 484-490.
[6] K. Hirai, M. Hirose, Y. Haikawa and T. Takenaka, "The Development of
Honda Humanoid Robot," in Proc. IEEE Int. Conf. on Robotics,
Automation and Mechatronics, Leuven, 1998, pp. 1321-1326.
[7] Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki and K.
Fujimura, "The Intelligent ASIMO: System Overview and Integration,"
in Proc. IEEE Int. Conf. on Intelligent Robots and Systems, Lausanne,
2002, pp. 2478-2483.
[8] J. Yamaguchi, A. Takanishi, and I. Kato, "Development of a Biped
Walking Robot Compensating for Three-Axis Moment by Trunk
Motion," in Proc. IEEE Int. Conf. on Intelligent Robots and Systems,
Yokohama, 1993, pp. 561-566.
[9] J. Yamaguchi, E. Soga, S. Inoue and A. Takanishi, "Development of a
Bipedal Humanoid Robot Control Method of Whole Body Cooperative
Dynamic Biped Walking," in Proc. IEEE Int. Conf. Robotics and
Automation, Michigan, 1999, pp. 368-374.
[10] Q. Li, A. Takanishi and I. Kato, "A Biped Walking Robot Having A ZMP
Measurement System Using Universal Force-Moment Sensors," in Proc.
IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, Osaka,
1991, pp. 1568-1573.
[11] R. Kurazume, S. Tanaka and M. Yamashita, "Straight Legged Walking
of a Biped Robot," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots
and Systems, Alberta, 2005, pp. 3095-3101.
[12] Y. Ogura, H. Lim and A. Takanishi, "Stretch Walking Pattern
Generation for a Biped Humanoid Robot," in Proc. IEEE/RSJ Int.
Workshop on Intelligent Robots and Systems, Nevada, 2003, pp. 352-
357.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:50249", author = "H. Siswoyo Jo and N. Mir-Nasiri and E. Jayamani", title = "Design and Trajectory Planning of Bipedal Walking Robot with Minimum Sufficient Actuation System", 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.
", keywords = "Bipedal robot, Energy efficiency, Straight legged walking, Trajectory planning.", volume = "3", number = "11", pages = "1379-7", }
