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

研究成果: Conference contribution

6 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
發行者Institute of Electrical and Electronics Engineers Inc.
頁面103-108
頁數6
ISBN(電子)9781509060870
DOIs
出版狀態Published - 2017 六月 7
事件3rd International Conference on Control, Automation and Robotics, ICCAR 2017 - Nagoya, Japan
持續時間: 2017 四月 222017 四月 24

出版系列

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

Other

Other3rd International Conference on Control, Automation and Robotics, ICCAR 2017
國家/地區Japan
城市Nagoya
期間17-04-2217-04-24

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 控制和優化
  • 控制與系統工程

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