Biped Robot with Triangle Configuration  

作　　者：LIU Changhuan YAO Yan’an TIAN Yaobin 

机构地区：[1]School of Mechanical and Electronic Control Engineering,Beijing Jiaotong University,Beijing 100044,China

出　　处：《Chinese Journal of Mechanical Engineering》2012年第1期20-28,共9页中国机械工程学报（英文版）

基　　金：supported by Geometry Robots for Science and Technology Education Exhibits (Beijing Municipal Commission of Education);Program for New Century Excellent Talents in University (Grant No.NCET-07-0063);National Natural Science Foundation of China (Grant No. 50875018);Beijing Municipal Natural Science Foundation of China (Grant No. 3093025);Science Foundation of Beijing Jiaotong University (Grant No. 2009JBZ001-1)

摘　　要：A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism. The scalability of three sides of the triangle is realized by three actuated prismatic joints. The three vertexes of the triangle are centers of three passive revolute joints coincidently. The biped mechanism for straight walking is proposed and its walking principle and mobility are explained. The static stability and the height and span of one step are analyzed. Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs. A prototype is developed and experiments are carried out to validate the straight walking gait. Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around. The turning ability is verified by experiments. As a new member of biped robots, its triangle configuration is used to impart geometry knowledge. Because of its high stiffness, some potential applications are on the way.A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism. The scalability of three sides of the triangle is realized by three actuated prismatic joints. The three vertexes of the triangle are centers of three passive revolute joints coincidently. The biped mechanism for straight walking is proposed and its walking principle and mobility are explained. The static stability and the height and span of one step are analyzed. Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs. A prototype is developed and experiments are carried out to validate the straight walking gait. Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around. The turning ability is verified by experiments. As a new member of biped robots, its triangle configuration is used to impart geometry knowledge. Because of its high stiffness, some potential applications are on the way.

关 键 词：biped robot closed chain mechanism gait analysis triangle configuration 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]