Hostname: page-component-76fb5796d-vvkck Total loading time: 0 Render date: 2024-04-28T09:12:03.942Z Has data issue: false hasContentIssue false
  • English
  • Français

Development of a biped walking robot actuated by a closed-chain mechanism

Published online by Cambridge University Press:  31 October 2005

Hyeung-Sik Choi  and
Yong-Heon Park
Hyeung-Sik Choi
Affiliation:
Division of Mechanical and Information Engineering, Korea Maritime University, Dongsam-Dong, Yeongdo-Ku, Pusan (South Korea)
Yong-Heon Park
Affiliation:
Division of Mechanical and Information Engineering, Korea Maritime University, Dongsam-Dong, Yeongdo-Ku, Pusan (South Korea)
Get access Rights & Permissions [Opens in a new window]

Abstract

We developed a new type of a human-sized BWR (biped walking robot) driven by the closed-chain type of a joint actuator. Each leg of the BWR is composed of three pitch joints and one roll joint. In all, a 12 degree-of-freedom robot, including four arm joints, was developed. The BWR was designed to walk autonomously; it is actuated by small 90W DC motors/drivers and is has DC batteries and controllers. A new type of the joint actuator for the BWR is composed of the four-bar-link mechanism driven by a ball screw which has high strength and high gear ratio despite its light weight.

In this paper, analyses on the four-bar-link mechanism applied to the joint actuator and on the structure of the BWR are presented. Through walking experiments of the BWR, the superior trajectory-tracking ability of the proposed joint actuator is validated.

Keywords

Biped walking robotBall screwFour-bar-link mechanism
Type
Research Article
Information
Robotica , Volume 24 , Issue 1 , January 2006 , pp. 31 - 37
Copyright
2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)