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Title: 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-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.  more » « less
Award ID(s):
1906727
PAR ID:
10326660
Author(s) / Creator(s):
; ; ;
Date Published:
Journal Name:
Robotics
Volume:
10
Issue:
4
ISSN:
2218-6581
Page Range / eLocation ID:
114
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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