Topic
Leg mechanism
About: Leg mechanism is a research topic. Over the lifetime, 567 publications have been published within this topic receiving 3123 citations.
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04 Nov 1996
TL;DR: The development of the quadruped walking robot TITAN-VIII is discussed, especially about its leg mechanism and results of experiments using a one-leg model, and a driving system using wires is introduced, which is helpful to achieve "low cost" and "simplicity of the treatment" objectives.
Abstract: We discuss the development of the quadruped walking robot TITAN-VIII, especially about its leg mechanism and results of experiments using a one-leg model. In the design of TITAN-VIII, we have considered not only about "high performance of the movement" but also about "low cost", "simplicity of the treatment", "simplicity of the functional extension", etc. We introduce a driving system using wires, which is helpful to achieve these objectives. We first constructed a one-leg model of TITAN-VIII. By using this model, we did experiments and made remarks about the feature of response, velocity, force and energy consumption. From these results, we estimated the limitation of the walking velocity of TITAN-VIII in standard walking posture. We discuss the standard walking posture of TITAN-VIII based on the energy efficiency.
172 citations
06 Jul 2004
TL;DR: This work has developed a 16-DOF biped humanoid robot without a trunk that has 3.DOF in each ankle, 1-DOE in each knee, 3-DOf in each hip and 2- DOF in the waist.
Abstract: Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch walking like a human because of an insufficiency of DOF. Therefore, we have developed a 16-DOF biped humanoid robot without a trunk: 3-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip and 2-DOF in the waist. Using the biped robot, basic experiments are conducted and the effectiveness of the leg mechanism is confirmed.
83 citations
01 Mar 2003
TL;DR: A dynamics-based approach was introduced where the controller is empirically derived based on characteristic dynamics of the robot, including actuator dynamics, and the robot succeeded in planar one-legged hopping.
Abstract: This paper proposes a new model of a one-legged hopping robot. The one-legged hopping robot is useful in realizing rapid movement such as that of a running animal. Although it has a simple leg mechanism, the dynamics are not simple and require non-linear complex analysis. This means that it is not easy to derive a controller for stable hopping in a systematic way. Therefore, a dynamics-based approach was introduced where the controller is empirically derived based on characteristic dynamics. A prototype of the one-legged hopping robot was fabricated and a precise simulator of the robot, including actuator dynamics, was constructed to examine the usefulness of the proposed dynamics model. Applying the constructed simulator to the prototype, the robot succeeded in planar one-legged hopping.
60 citations
TL;DR: In this article, the performance requirements of a walking chair are specified according to the needs of a disabled person, and the number of legs and leg mechanism are determined according to previous design experience, and three basic gaits for a quadruped to negotiate both structured and unstructured terrain, namely straight-line gaits, turning gaits and stair-climbing gaits are studied.
58 citations
22 Aug 2004
TL;DR: A novel leg-wheel hybrid stair-climbing vehicle, "Zero Carrier", which consists of eight unified prismatic-joint legs, four of which attached active wheels and other four attached passive casters, which can be designed lightweight, compact, powerful, together with its significant stability on stair climbing motion.
Abstract: It is greatly demanded that to develop a kind of stably stair climbing mobile vehicle to assist the physically handicapped in moving outdoors. In this paper, we first propose a novel leg-wheel hybrid stair-climbing vehicle, "Zero Carrier", which consists of eight unified prismatic-joint legs, four of which attached active wheels and other four attached passive casters. Zero Carrier can be designed lightweight, compact, powerful, together with its significant stability on stair climbing motion, since its mechanism is mostly concentrated in its eight simplified legs. We discuss the leg mechanism and control method of the first trial model, Zero Carrier I, and verify its performance based on the experiments of stair climbing and moving over obstacles performed by Zero Carrier I
52 citations