Title :
Leg mechanism design for SLIP model of hydraulic quadruped robot
Author :
Jaehong Seo ; Jungsan Cho ; Byung-Yun Park ; Jinhyun Kim ; Sangdeok Park
Author_Institution :
Dept. of Intell. Robot Eng., Univ. of Sci. & Technol., Daejeon, South Korea
Abstract :
The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accurately reflects the SLIP based on its mechanical constitution. The SLIP design based leg is able to do decoupled swing motion and extension motion. Also this study has focused on improving the straightness of extension motion.
Keywords :
design engineering; hydraulic actuators; legged locomotion; motion control; robot dynamics; SLIP design based leg; SLIP model; articulated legs; decoupled swing motion; dynamic walking; extension motion; hydraulic quadruped robot; leg mechanism design; linear actuators; mechanical constitution; spring loaded inverted pendulum; Actuators; Hip; Joints; Legged locomotion; Robot sensing systems; Springs; Mechanism design; Quadruped robot; SLIP;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057457
