Authors: Marco Ceccarelli; Tao Li
Addresses: LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Via Di Biasio 43, 03043 Cassino (Fr), Italy ' Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changwu Road 801, Changzhou, Jiangsu, China
Abstract: A new biped mechanism with low-cost easy-operation features is proposed with only seven degrees of freedom (DOF). The mechanism is designed with motion capabilities for straight walking, changing direction, overcoming obstacle, and climbing stairs. Dynamics properties of this biped mechanism are analysed by means of simulations in MSC.ADAMS environment. Simulation results are reported in terms of motion torque, joint force, contact force, parts displacement, velocity and acceleration. They are discussed to characterise dynamical motion performance and walking feasibility.
Keywords: humanoid robots; biped mechanisms; dynamic simulation; walking motion; robot motion; walking robots; legged locomotion; robot dynamics; motion torque; joint force; contact force; parts displacement; velocity; acceleration.
International Journal of Mechanisms and Robotic Systems, 2014 Vol.2 No.1, pp.51 - 66
Received: 24 Sep 2013
Accepted: 05 Dec 2013
Published online: 18 Aug 2014 *