A Non-Anthropomorphic Bipedal Walking Robot with a Vertically Stabilized Base
Source abstract
Abstract
The paper deals with the proposed concept of a biped robot with vertical stabilization of the robot’s base and minimization of its sideways oscillations. This robot uses 6 actuators, which gives good preconditions for energy balance compared to purely articulated bipedal robots. In addition, the used linear actuator is self-locking, so no additional energy is required for braking or to keep it in a stable position. The direct and inverse kinematics problems are solved by means of a kinematic model of the robot. Furthermore, the task is aided by a solution for locomotion on an inclined plane. Special attention is focused on the position of the robot’s center of gravity and its stability in motion. The results of the simulation confirm that the proposed concept meets all expectations. This robot can be used as a mechatronic assistant or as a carrier for handling extensions.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Locomotion and Control · Robot Manipulation and Learning · Prosthetics and Rehabilitation Robotics
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Industrial Automation and Mechatronics, Department of Production Systems and Robotics, Faculty of Mechanical Engineering, Technical University of Košice, 04200 Kosice, Slovakia
References (54)
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