南方科技大学知识苑(SUSTech KC): Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass Model

题名	Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass Model
作者	Che，Junjie1 ; Pan，Yang2 ; Yan，Wei1 ; Yu，Jiexian1
通讯作者	Pan，Yang
发表日期	2022-03-01
DOI	10.3390/act11030075
发表期刊	Actuators 影响因子和分区
EISSN	2076-0825
卷号	11 期号:3
摘要	The leg structure with high dynamic stability can make the bionic biped robot have the inherent conditions to perform elastic and highly dynamic motion. Compared with the quadruped robot, the leg structure of the biped robot is more complex and has more degrees of freedom. This also complicates kinematic and dynamic modeling. In this paper, the kinematics model of a bionic biped robot is established. The leg configuration of the robot is a series parallel hybrid mechanism with five active joints and six passive joints. The mechanism is a spring mass model that interacts organically with the environment and mimics the characteristics of human walking well. By analyzing the topological configuration of leg mechanism, we use the screw theory to establish the forward and inverse kinematics models. Then, we build the prototype, and use a step gait to test the model and prototype. The research of this paper has obvious application significance for the design and iteration of biped robot prototype.
关键词	Biped robot Biped robot prototype Kinematics Leg configuration
相关链接	[Scopus记录]
收录类别	SCI
语种	英语
学校署名	第一 ; 通讯
资助项目	Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004] ; SUSTech Institute of Robotics-LeJu(Shenzhen) Robotics Joint Research Center on Robotics[K2033Z054]
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Mechanical ; Instruments & Instrumentation
WOS记录号	WOS:000776943300001
出版者	MDPI
Scopus记录号	2-s2.0-85125999943
来源库	Scopus
引用统计	被引频次[WOS]：2
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/327701
专题	工学院_机械与能源工程系
作者单位	1.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,518055,China 2.Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Southern University of Science and Technology,Shenzhen,518055,China
第一作者单位	机械与能源工程系
通讯作者单位	南方科技大学
第一作者的第一单位	机械与能源工程系
推荐引用方式 GB/T 7714	Che，Junjie,Pan，Yang,Yan，Wei,et al. Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass Model[J]. Actuators,2022,11(3).
APA	Che，Junjie,Pan，Yang,Yan，Wei,&Yu，Jiexian.(2022).Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass Model.Actuators,11(3).
MLA	Che，Junjie,et al."Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass Model".Actuators 11.3(2022).