Design and trajectory planning of bipedal walking robot with minimum sufficient actuation system

H. Siswoyo Jo, N. Mir-Nasiri, E. Jayamani

Research output: Contribution to journalArticlepeer-review

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.

Original languageEnglish
Pages (from-to)160-166
Number of pages7
JournalWorld Academy of Science, Engineering and Technology
Volume59
Publication statusPublished - Nov 2009

Keywords

  • Bipedal robot
  • Energy efficiency
  • Straight legged walking
  • Trajectory planning

ASJC Scopus subject areas

  • Engineering(all)

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