Development of a walking machine: mechanical design and control problems

Zielińska, Teresa; Heng, John

doi:10.1016/s0957-4158(01)00017-4

Cited by 46 publications

(27 citation statements)

References 10 publications

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“…In order to obtain the Jacobian needed in rel. (3) the expressions for leg-end coordinates must be used, in this case: [32]:…”

Section: Resultsmentioning

confidence: 99%

“…For walking machines moving with relatively low speeds with almost constant leg posture during the support phase and with lightweight legs, this part is much smaller than the last component. Our studies showed that this part is responsible for no more than 10 % of the required torque [32].…”

Section: Energy Consumption In the Support Phasementioning

confidence: 99%

“…When selecting the motors for a walking machine the needed motor torques during energy demanding support phase and the required angular speed for velocity demanding transfer phase [30] are considered. Adequate design of the leg-end trajectory during leg transfer reduces the range of angular velocities and accelerations and decreases jerks [32]. The selection of actuators should take into account that it is important not to oversize the knee motor, because it increases the leg weight without reason.…”

Section: Analyzing Energy Demand -Support Phasementioning

confidence: 99%

“…One of the design concepts reducing the weight of the leg uses modular design (designer J.Heng) [32].…”

Section: Decreasing Energy Demand In the Transfer Phasementioning

confidence: 99%

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Minimizing Energy Cost in Multi-Legged Walking Machines

Zielińska

2016

J Intell Robot Syst

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Due to their ability to avoid obstacles and to move over difficult terrain, moreover having the ability to adjust their posture, walking machines for many years have been considered as very promising devices for inspection, exploration and surveyance tasks, however still they have not been widely applied. One of the main limitations is the power supply. Six legged walking machines are robust from the point of view of their walking stability in difficult terrain, but their actuators (18 if each leg has active 3 DOF's) adds to their weight what increases the energy consumption. The higher energy consumption requires more efficient batteries, but usually those are heavier, what again increases the energy demand. Therefore at the design stage a detailed analysis is required of how to decrease the energy consumption. This paper studies energy consumption considering the tripod gait of hexapods. The method used for energy evaluation is presented and the results are discussed. The discussion of energy saving both for the leg transfer phase and during the support phase, which is the most demanding phase, is presented. The energy consumption is expressed in the normalized form, depending on the normalized leg proportions, body height and step length. The straight line forward/backward and side walking are analyzed. The aim of the studies is to provide to the designers the information about favorable leg proportions taking into account the reduction of required energy and to provide the information which leg posture should be selected.

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“…In order to obtain the Jacobian needed in rel. (3) the expressions for leg-end coordinates must be used, in this case: [32]:…”

Section: Resultsmentioning

confidence: 99%

Section: Energy Consumption In the Support Phasementioning

confidence: 99%

Section: Analyzing Energy Demand -Support Phasementioning

confidence: 99%

“…One of the design concepts reducing the weight of the leg uses modular design (designer J.Heng) [32].…”

Section: Decreasing Energy Demand In the Transfer Phasementioning

confidence: 99%

See 2 more Smart Citations

Minimizing Energy Cost in Multi-Legged Walking Machines

Zielińska

2016

J Intell Robot Syst

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“…During this control step several micro steps are realized to achieve the reference value. For the leg-end position/force control the following relation was implemented [8]:…”

Section: Implementation Of Compliance Force Controlmentioning

confidence: 99%

Autonomous walking machines - discussion of the prototyping problems

Zielińska¹

2010

Bulletin of the Polish Academy of Sciences: Technical Sciences

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Abstract. An improvement of the computer technology caused the progress in building of the developed machines, indispensable in some works which are too dangerous or onerous for humans. The article deals with prototyping problems in constructing autonomous walking machines including design problems, evaluation of required motor power, evaluation of expecting walking velocity as well as the control system design considerations etc., presenting themselves as key factors which must be taken into account while walking robots prototyping.

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Robotic Assistive Devices for Motor Disability Rehabilitation

Alamdari¹,

Krovi

2016

Wiley Encyclopedia of Electrical and Electronics Engineering

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Mankind has traditionally developed manipulative and locomotive tools to enhance the ability and performance, increase, strength to and reduce performance variability. In a motor rehabilitation context, such devices enable people with disabilities to perform many activities of daily living, to lead independent lives, and play a more productive role in society. In this article, we present a review of the technology underlying assistive devices for people with manipulative and locomotive disabilities focusing on prosthetic limbs, robotic arms, exoskeletons, braces, and wheelchairs. We highlight the important role that robotics can play in assistive devices. There is another class of assistive devices, called teletheses, that bear a strong resemblance to the multiple degree‐of‐freedom robot arms and to the body‐powered prosthetic limbs. Finally, we discuss the design and manufacturing issues for such devices. The high degree of customization that is required and the one‐of‐a‐kind flavor of these products suggest that a computer‐integrated, automated approach to design and prototyping is necessary for manufacturing.

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Development of a walking machine: mechanical design and control problems

Cited by 46 publications

References 10 publications

Minimizing Energy Cost in Multi-Legged Walking Machines

Minimizing Energy Cost in Multi-Legged Walking Machines

Autonomous walking machines - discussion of the prototyping problems

Robotic Assistive Devices for Motor Disability Rehabilitation

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