Biped Robot Leg Mechanism Design and Control Toward Natural Walking
碩士 === 國立臺灣大學 === 電機工程學研究所 === 99 === The implementation of the specifically designed humanoid biped robot legs investigates towards active actuated natural walking is proposed in this thesis. Conventional humanoid biped robots suffer from problems like artificial and unnatural motion, or low agilit...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | en_US |
| Published: |
2011
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/46901742849892377031 |
| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 99 === The implementation of the specifically designed humanoid biped robot legs investigates towards active actuated natural walking is proposed in this thesis. Conventional humanoid biped robots suffer from problems like artificial and unnatural motion, or low agility. To improve the performance of the humanoid robot, this paper introduces the idea which employs the concept of both active-actuated biped robot legs and the passive dynamic walkers with more naturally walking.
The approach in mechanism aspect is primarily based on the utilization of shock absorber and parallel linkage mechanism, which drastically decreases the load of actuator output force thus enables the humanoid biped walking robot legs to achieve higher efficiency while remain lower cost than traditional design since the requirement is also lower. The specifically designed mechanism also provides better support than conventional humanoid biped walking robot.
The walking algorithm that combines “Series Elastic Actuation” and “Limit Cycle Walking” permits the robot to move in more natural way. The shock absorbers mounted in serial way at the actuator output enable the implementation of the conventional “Series Elastic Actuation”, and the shock absorbers mounted in parallel way with the actuators are added as the modification in order to store the energy of the actuators like the human muscle and thus even more suitable to implement “Limit Cycle Walking”.
The experimental results along with simulation and analysis demonstrate the high potential and possibilities of this concept and introduce the new direction towards the naturally walking humanoid robot legs design.
|
|---|