Title :
Raptor: Fast bipedal running and active tail stabilization
Author :
Jongwon Park ; Jinyi Lee ; Jinwoo Lee ; Kyung-Soo Kim ; Soohyun Kim
Author_Institution :
Dept. of Mech. Eng., KAIST, Daejeon, South Korea
Abstract :
In this work, we introduce a novel design of bipedal robot inspired by ancient dinosaurs, velociraptor to achieve stabilized high speed running. The skeletomuscular system of a velociraptor is analyzed and applied to determine leg structure and linkage parameters. Foot blades of the robot are made of carbon/epoxy composite structure to absorb shock energy and reduce leg mass for low rotational inertia. Achilles tendons work as a spring-damper system, absorbing and restoring energy with every step for high efficiency running. Raptor´s tail take the form of spinning rod to stabilize body posture against disturbances by applying counter torque. The effectiveness of the proposed mechanism is verified through experiments. The Raptor robot runs at a speed of 46 km/h on a treadmill with off-board power. Tail-assisted pitch control provides dynamic stability over 10 cm (21% of the leg length) obstacles.
Keywords :
blades; composite materials; couplings; legged locomotion; mechanical stability; motion control; pitch control (position); robot dynamics; rods (structures); shock absorbers; springs (mechanical); torque control; Achilles tendons; Raptor; active tail stabilization; ancient dinosaurs; body posture stabilization; carbon composite structure; counter torque; dynamic stability; energy restoration; epoxy composite structure; fast bipedal running; foot blades; high speed running stabilization; leg mass reduction; leg structure determination; linkage parameter determination; low rotational inertia; shock energy absorption; skeletomuscular system analysis; spinning rod; spring-damper system; tail-assisted pitch control; velociraptor; Abstracts; Ambient intelligence; Couplings; Dinosaurs; Electronic mail; Mechanical engineering; Robots;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057424
