On the design of a self-balanced quadruped walking machine with ten-bar leg mechanisms

Hong-Sen Yan, Chih Yung Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A self-balanced quadruped walking machine with leg mechanisms of 10-bar linkage is designed by a systematic approach. At first, an existing leg mechanism of 10-bar linkage is selected as the tentative design, and the dimensional synthesis is performed to obtain the desired foot trajectory by the optimization technique of ALM. Next, the speed ratio between the crank speed during the support phase and that during the transfer phase is decided by a two-speed control method to achieve a sufficient time period of support phase. Then, in order to make sure that there are always at least three legs on the ground for the wave gait to enhance the stability of locomotion, the foot point of each leg at a specific time is placed on the specific position upon the foot trajectory. The force analysis and computer simulation are carried out to evaluate the requirements for driving and to recognize the characteristics of the designed walking machine. And, the force transmission during the full cycle is realized and the specification of the driving motor is decided. Finally, a prototype of the designed quadruped walking machine is constructed and it is proven that this design is practical and feasible.

Original languageEnglish
Title of host publicationASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Pages663-673
Number of pages11
EditionPARTS A AND B
DOIs
Publication statusPublished - 2009 Dec 1
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: 2009 Aug 302009 Sep 2

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume7

Other

OtherASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
CountryUnited States
CitySan Diego, CA
Period09-08-3009-09-02

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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