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Design and simulated characteristics of a new biped mechanism

Published online by Cambridge University Press:  15 April 2014

Tao Li  and
Marco Ceccarelli
Tao Li*
Affiliation:
Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou (Jiangsu) 213164, China LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Via Di Biasio 43, Cassino 03043 (FR), Italy
Marco Ceccarelli
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Via Di Biasio 43, Cassino 03043 (FR), Italy
*
*Corresponding author. E-mail: roboylee@163.com
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Summary

This paper presents a new biped mechanism with low-cost easy-operation features. The mechanism is designed with functions for straight walking, changing direction, overcoming obstacle, and climbing stairs with only 7 DOFs (degrees of freedom). Dynamics of the biped mechanism are analyzed by means of simulations in the MSC.ADAMS environment. Simulation results in terms of motion torque, joint force, contact force, parts displacement, velocity, and acceleration are reported and analyzed to show the feasibility and efficiency of the proposed solution. In addition, with the simulation results, dynamical motion of the biped mechanism is investigated and its operation performances are characterized as well.

Keywords

Humanoid robotsBiped mechanismsDynamic simulationWalking modesMotion capability
Type
Articles
Information
Robotica , Volume 33 , Issue 7 , August 2015 , pp. 1568 - 1588
Copyright
Copyright © Cambridge University Press 2014 

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