A family of biped spatial four-link mechanisms with two revolute and two cylindric joints is proposed in this paper. Three main categories, including eight configurations are put forward. The primary feature of these mechanisms is that they are made up of four links that are connected end to end through two revolute and cylindric joints, and among the links, two of them are designed as feet. These novel configurations are revealed by different methods and ways: The basic configurations are enumerated by traditional mechanism synthesis method; the conventional configurations are obtained by repetitious trial; the unique configurations are accidentally achieved by inspiration or intuition. Each of them has its own characteristic and can be an alternative option for biped robot design. Compared with most of the existing biped mechanisms, these configurations are simpler in structure and thus easier to control. The singular configuration is cleverly used rather than avoided to perform the walking and turning. Their structure descriptions and walking simulations are accomplished. Afterwards, the kinematic and stability analyses are studied, the design considerations are discussed, and foot-workspace analyses are carried out. Finally, four prototypes are developed to preliminary verify the feasibility of these proposed concepts.
Issue Section:
Design Innovation Papers
References
1.
Harrisberger
, L.
, and Soni
, A. H.
, 1966, “A Survey of Three-Dimensional Mechanisms With One General Constraint
,” ASME Paper No. 66-Mech-44.2.
Duffy
, J.
, and Gilmartin
, M. J.
, 1969, “Limit Positions of Four-Link Spatial Mechanisms—1. Mechanisms Having Revolute and Cylindric Pairs
,” J. Mech.
, 4
(3
), pp. 261
–272
.3.
Gilmartin
, M. J.
, and Duffy
, J.
, 1975, “Gross Motion Analysis of Overconstrained Spatial Four-Link Mechanisms
,” Proceedings of 4th World Congress on the Theory of Machine and Mechanism, pp. 259
–264
.4.
Hunt
, K. H.
, 1967, “Prismatic Pairs in Spatial Linkages
,” J. Mech.
, 2
(2
), pp. 213
–230
.5.
Waldron
, K. J.
, 1973, “A Study of Overconstrained Linkage Geometry by Solution of Closure Equations—Part II. Four-Bar Linkages With Lower Pair Joints Other Than Screw Joints
,” Mech. Mach. Theory
, 8
(2
), pp. 233
–247
.6.
Waldron
, K. J.
, 1973, “A Study of Overconstrained Linkage Geometry by Solution of Closure Equations—Part 1. Method of Study
,” Mech. Mach. Theory
, 8
(1
), pp. 95
–104
.7.
Savage
, M.
, 1972, “Four-Link Mechanisms With Cylindric, Revolute and Prismatic Pairs
,” Mech. Mach. Theory
, 7
(2
), pp. 191
–208
.8.
Rico
, J. M.
, and Ravani
, B.
, 2007, “On Calculating the Degrees of Freedom or Mobility of Overconstrained Linkages: Single-Loop Exceptional Linkages
,” ASME J. Mech. Des.
, 129
(3
), pp. 301
–311
.9.
Martinez
, J. M. R.
, and Ravani
, B.
, 2003, “On Mobility Analysis of Linkages Using Group Theory
,” ASME J. Mech. Des.
, 125
(1
), pp. 70
–80
.10.
Dizioglu
, B.
, 1978, “Theory and Practice of Spatial Mechanisms With Special Positions of the Axes
,” Mech. Mach. Theory
, 13
(2
), pp. 139
–153
.11.
Fayet
, M.
, 2003, Distribution of Wrench-Twist Duality in Over-Constrained Mechanisms
, American Society of Mechanical Engineers
, New York, Etats-Unis
.12.
Liu
, C.
, and Yao
, Y. A.
, 2009, “Biped RCCR Mechanism
,” ASME J. Mech. Des.
, 131
(3
), p. 031010
.13.
McGeer
, T.
, 1990, “Passive Dynamic Walking
,” Int. J. Robot. Res.
, 9
(2
), pp. 62
–82
.14.
Grishin
, A. A.
, Formal’sky
, A. M.
, Lensky
, A. V.
, and Zhitomirsky
, S. V.
, 1994, “Dynamic Walking of a Vehicle With Two Telescopic Legs Controlled by Two Drives
,” Int. J. Robot. Res.
, 13
(2
), pp. 137
–147
.15.
Miura
, H.
, and Shimoyama
, I.
, 1984, “Dynamic Walk of a Biped
,” Int. J. Robot. Res.
, 3
(2
), pp. 60
–74
.16.
Lum
, H. K.
, Zribi
, M.
, and Soh
, Y. C.
, 1999, “Planning and Control of a Biped Robot
,” Int. J. Eng. Sci.
, 37
(10
), pp. 1319
–1349
.17.
Kim
, S. H.
, Oh
, J. H.
, and Lee
, K. H.
, 2000, “Design of 4 Joints 3 Links Biped Robot and Its Gaits
,” Proceedings of the IEEE/RSJ International Conference on International Robots and Systems, pp. 1155
–1160
.18.
Alba
, M.
, Prada
, J. C. G.
, Meneses
, J.
, and Rubio
, H.
, 2010, “Center of Percussion and Gait Design of Biped Robots
,” Mech. Mach. Theory
, 45
(11
), pp. 1681
–1693
.19.
Zielinska
, T.
, Chew
, C. M.
, Kryczka
, P.
, and Jargilo
, T.
, 2009, “Robot Gait Synthesis Using the Scheme of Human Motions Skills Development
,” Mech. Mach. Theory
, 44
(3
), pp. 541
–558
.20.
Braun
, D. J.
, Mitchell
, J. E.
, and Goldfarb
, M.
, 2012, “Actuated Dynamic Walking in a Seven-Link Biped Robot
,” IEEE/ASME Trans. Mechatron.
, 17
(1
), pp. 147
–156
.21.
Guihard
, M.
, and Gorce
, P.
, “A New Way to Tackle Position/Force Control for Pneumatic Robots
,” Proceedings of the International Conference on Intelligent Robots and Systems, Vol. 602
, pp. 603
–610
.22.
Collins
, S.
, Ruina
, A.
, Tedrake
, R.
, and Wisse
, M.
, 2005, “Efficient Bipedal Robots Based on Passive-Dynamic Walkers
,” Science (New York, NY)
, 307
(5712
), pp. 1082
–1085
.23.
Ching-Long
, S.
, 1999, “Ascending and Descending Stairs for a Biped Robot
,” IEEE Trans. Syst. Man Cybern., Part A. Syst. Humans
, 29
(3
), pp. 255
–268
.24.
Gomez
, N.
, Wu
, J.
, Shi
, M.
, and Tosunoglu
, S.
, 2006, “Sprainy: Design and Prototype Development of an 8-Degree-of-Freedom Walking Biped Robot
,” 2006 Florida Conference on Recent Advances in Robotics, pp. 1
–9
.25.
Furusho
, J.
, and Sano
, A.
, 1990, “Sensor-Based Control of a Nine-Link Biped
,” Int. J. Robot. Res.
, 9
(2
), pp. 83
–98
.26.
Bertrand
, S.
, Bruneau
, O.
, Ouezdou
, F. B.
, and Alfayad
, S.
, 2012, “Closed-Form Solutions of Inverse Kinematic Models for the Control of a Biped Robot With 8 Active Degrees of Freedom Per Leg
,” Mech. Mach. Theory
, 49
, pp. 117
–140
.27.
Hashimoto
, K.
, Sawato
, T.
, Hayashi
, A.
, Yoshimura
, Y.
, Asano
, T.
, Hattori
, K.
, Sugahara
, Y.
, Lim
, H. O.
, and Takanishi
, A.
, “Static and Dynamic Disturbance Compensation Control for a Biped Walking Vehicle
,” Proceedings of the 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 457
–462
.28.
Morisawa
, M.
, Yakoh
, T.
, Murakami
, T.
, and Ohnishi
, K.
, 2000, “An Approach to Biped Robot With Parallel Mechanism
,” Proceedings of the IEEE International Conference on Advanced Motion Control, pp. 537
–541
.29.
Zhou
, Y. L.
, and Gao
, F.
, 1996, “Mechanism Architecture of Humanoid Robot
,” Chin. J. Mech. Eng.
, 42
(11
), pp. 66
–74
(in Chinese).30.
Hirose
, S.
, Homma
, K.
, Matsuzawa
, S.
, and Hayakawa
, S.
, 1992, “Parallel Link Walking Vehicle and Its Basic Experiments
,” 6th Symposium on Intelligent Mobile Robots
, pp. 7
–8
.31.
Dunlop
, G.
, 2003, “Foot Design for a Large Working Delta Robot
,” The 8th International Symposium on Experimental Robotics
, Vol. 5
, pp. 602
–611
.32.
Liu
, C. H.
, Yao
, Y. A.
, and Tian
, Y. B.
, 2012, “Biped Robot With Triangle Configuration
,” Chin. J. Mech. Eng.
, 25
(1
), pp. 20
–28
.33.
Miao
, Z. H.
, Yao
, Y. A.
, and Tian
, Y. B.
, 2011, “A Type of Novel Usage of 4U Parallelogram Mechanisms—Designed as a Whole to be Biped Walking Mechanism
,” ROBOT
, 33
(4
), pp. 394
–404
(in Chinese).34.
Hunt
, K. H.
, 1978, “Kinematic Geometry of Mechanism
,” Clarendon Press
, Oxford
.35.
Borovac
, B.
, 2004, “Zero-Moment Point—Thirty Five Years of Its Life
,” Int. J. Hum. Robot.
, 1
(1
), pp. 157
–173
.36.
Qiang
, H.
, Kajita
, S.
, Koyachi
, N.
, Kaneko
, K.
, Yokoi
, K.
, Arai
, H.
, Komoriya
, K.
, and Tanie
, K.
, 1999, “A High Stability, Smooth Walking Pattern for a Biped Robot
,” Proceedings of IEEE International Conference on Robotics and Automation, pp. 65
–71
.37.
Font-Llagunes
, J. M.
, and Kövecses
, J.
, 2009, “Dynamics and Energetics of a Class of Bipedal Walking Systems
,” Mech. Mach. Theory
, 44
(11
), pp. 1999
–2019
.38.
Jonghoon
, P.
, and Youngil
, Y.
, 2007, “General ZMP Preview Control for Bipedal Walking
,” Proceedings of IEEE International Conference on Robotics and Automation, pp. 10
–14
.Copyright © 2012
by American Society of Mechanical Engineers
You do not currently have access to this content.
