The development of a multi-legged robot using eight-bar linkages as leg mechanisms with switchable modes for walking and stair climbing

Chih-Hsing Liu, Meng Hsien Lin, Ying Chia Huang, Tzu Yang Pai, Chiu Min Wang

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

6 Citations (Scopus)

Abstract

This paper introduces an innovative design of a multi-legged robot with switchable modes for walking and stair climbing. The Jansen-type eight-bar linkages are used as leg mechanisms with a new set of link dimensions (identified by the proposed path synthesis method) to generate foot trajectory for stair climbing motion. The objective function of the proposed path synthesis method is to minimize the tacking error between the target and generated trajectories. A counterweight slider to adjust the center of gravity of the multi-legged robot is used to switch the robot to either walking mode or stair climbing mode. The system design, and simulation results by using the commercial multibody dynamic analysis software, RecurDyn, are provided. The proposed design is prototyped, and can be remote controlled by a smartphone through Arduino and its Bluetooth module. The eight legs of the robot are driven by a dual-output-shaft DC motor through two gear trains. The simulated and experimental results show the developed robot is capable for both legged walking and stair climbing.

Original languageEnglish
Title of host publication2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages103-108
Number of pages6
ISBN (Electronic)9781509060870
DOIs
Publication statusPublished - 2017 Jun 7
Event3rd International Conference on Control, Automation and Robotics, ICCAR 2017 - Nagoya, Japan
Duration: 2017 Apr 222017 Apr 24

Publication series

Name2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017

Other

Other3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Country/TerritoryJapan
CityNagoya
Period17-04-2217-04-24

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Control and Systems Engineering

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