Abstract
To increase the maximum payload, the joint arrangement of the Stewart platform type leg mechanism for a biped walking vehicle is optimized by a dynamic simulation and a real-coded genetic algorithm. Using effective joint arrangement, the maximum RMS (root-mean-square) value of the current will be able to be reduced. A new prototype of a biped walking vehicle, WL-16RIV, was developed by using the optimal joint arrangement method. Weight saving in some parts was also conducted. Through walking experiments, the maximum RMS value of the current was reduced, and the maximum payload was increased. The effectiveness of the proposed method was confirmed.
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Hashimoto, K., Sugahara, Y., Lim, Ho., Takanishi, A. (2010). Optimization Design of a Stewart Platform Type Leg Mechanism for Biped Walking Vehicle. In: Kaneko, M., Nakamura, Y. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14743-2_15
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DOI: https://doi.org/10.1007/978-3-642-14743-2_15
Publisher Name: Springer, Berlin, Heidelberg
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