research-article

Kinematics Analysis of Leg Configuration of An Ostrich Bionic Biped Robot

Authors:

Jiexian YuAuthors Info & Claims

RobCE '21: Proceedings of the 2021 International Conference on Robotics and Control Engineering

Pages 19 - 22

https://doi.org/10.1145/3462648.3462652

Published: 22 June 2021 Publication History

Abstract

Bio-inspired biped robots require high level dynamic control when walking or jumping. Compared with 4 or 6 legged robots, mechanisms of biped robots are more complicated and have more DOFs, which means both kinematical and dynamic models are more complex. In this paper, we formulated the kinematic models of ostrich bionic biped robot, which apply serial-parallel hybrid mechanism with 13 joints (5 active, 8 passive) each leg. The mechanism topology patterns are analyzed during walking, jumping and standing. We defined the feet as 5-DOFs end-effectors and both forward and inverse kinematic models are formulated using screw theory. An ordinary walking gait based on inverted pendulum was used to test the models and the results show that the robot can walk very well in simulation environments. The research of this paper has obvious application significance for the design, iteration and control of ostrich bionic biped robot.

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Cited By

Che JPan YYan WYu J(2022)Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass ModelActuators10.3390/act1103007511:3(75)Online publication date: 2-Mar-2022
https://doi.org/10.3390/act11030075
Leng JFan STang JMou HXue JLi Q(2022)M-A3C: A Mean-Asynchronous Advantage Actor-Critic Reinforcement Learning Method for Real-Time Gait Planning of Biped RobotIEEE Access10.1109/ACCESS.2022.317660810(76523-76536)Online publication date: 2022
https://doi.org/10.1109/ACCESS.2022.3176608
Chen GWei NLi JLu H(2022)Design and simulation analysis of a bionic ostrich robotBiomechanics and Modeling in Mechanobiology10.1007/s10237-022-01619-921:6(1781-1801)Online publication date: 12-Aug-2022
https://doi.org/10.1007/s10237-022-01619-9

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Published In

cover image ACM Other conferences

RobCE '21: Proceedings of the 2021 International Conference on Robotics and Control Engineering

April 2021

97 pages

ISBN:9781450389471

DOI:10.1145/3462648

Editors:
Dan Zhang
York University, Canada
,
Maki Habib
American University in Cairo, Egypt
,
Giuseppe Carbone
University of Calabria, Italy

Copyright © 2021 ACM.

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Publication History

Published: 22 June 2021

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RobCE 2021

RobCE 2021: 2021 International Conference on Robotics and Control Engineering

April 22 - 25, 2021

Tokyo, Japan

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Cited By

Che JPan YYan WYu J(2022)Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass ModelActuators10.3390/act1103007511:3(75)Online publication date: 2-Mar-2022
https://doi.org/10.3390/act11030075
Leng JFan STang JMou HXue JLi Q(2022)M-A3C: A Mean-Asynchronous Advantage Actor-Critic Reinforcement Learning Method for Real-Time Gait Planning of Biped RobotIEEE Access10.1109/ACCESS.2022.317660810(76523-76536)Online publication date: 2022
https://doi.org/10.1109/ACCESS.2022.3176608
Chen GWei NLi JLu H(2022)Design and simulation analysis of a bionic ostrich robotBiomechanics and Modeling in Mechanobiology10.1007/s10237-022-01619-921:6(1781-1801)Online publication date: 12-Aug-2022
https://doi.org/10.1007/s10237-022-01619-9

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