Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot
This paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion and steering. The single DOF leg is actuated via a Reuleaux triangle cam-...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-10-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/4/114 |
| _version_ | 1797500903062765568 |
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| author | Jiteng Yang Wael Saab Yujiong Liu Pinhas Ben-Tzvi |
| author_facet | Jiteng Yang Wael Saab Yujiong Liu Pinhas Ben-Tzvi |
| author_sort | Jiteng Yang |
| collection | DOAJ |
| description | This paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion and steering. The single DOF leg is actuated via a Reuleaux triangle cam-follower mechanism to produce a constant body height foot trajectory. Kinematic analysis and dimension selection of the Reuleaux triangle mechanism is conducted first to generate the desired step height and step length. Leg sequencing is then designed to allow the robot to maintain a constant body height and forward walking velocity. Dynamic simulations and experiments are conducted to evaluate the walking and steering performance. The results show that the robot is able to control its body orientation, maintain a constant body height, and achieve quasi-static locomotion stability. |
| first_indexed | 2024-03-10T03:10:33Z |
| format | Article |
| id | doaj.art-56dbb735f3e24f699076e9c9c03e7e05 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T03:10:33Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-56dbb735f3e24f699076e9c9c03e7e052023-11-23T10:26:44ZengMDPI AGRobotics2218-65812021-10-0110411410.3390/robotics10040114Reuleaux Triangle–Based Two Degrees of Freedom Bipedal RobotJiteng Yang0Wael Saab1Yujiong Liu2Pinhas Ben-Tzvi3Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USARobotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USARobotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USARobotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USAThis paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion and steering. The single DOF leg is actuated via a Reuleaux triangle cam-follower mechanism to produce a constant body height foot trajectory. Kinematic analysis and dimension selection of the Reuleaux triangle mechanism is conducted first to generate the desired step height and step length. Leg sequencing is then designed to allow the robot to maintain a constant body height and forward walking velocity. Dynamic simulations and experiments are conducted to evaluate the walking and steering performance. The results show that the robot is able to control its body orientation, maintain a constant body height, and achieve quasi-static locomotion stability.https://www.mdpi.com/2218-6581/10/4/114bipedal robotreuleaux trianglemechanism designkinematicsdynamicssimulation |
| spellingShingle | Jiteng Yang Wael Saab Yujiong Liu Pinhas Ben-Tzvi Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot Robotics bipedal robot reuleaux triangle mechanism design kinematics dynamics simulation |
| title | Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot |
| title_full | Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot |
| title_fullStr | Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot |
| title_full_unstemmed | Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot |
| title_short | Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot |
| title_sort | reuleaux triangle based two degrees of freedom bipedal robot |
| topic | bipedal robot reuleaux triangle mechanism design kinematics dynamics simulation |
| url | https://www.mdpi.com/2218-6581/10/4/114 |
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