TY - GEN
T1 - Leg Mechanism of a Quadruped Wheeled Robot with a 4-DoF Spherical Parallel Link Mechanism
AU - Suzuki, Taisei
AU - Ota, Hayato
AU - Takenaka, Hiroki
AU - Tanaka, Takayuki
AU - Ishizawa, Yuta
AU - Hashimoto, Kenji
N1 - Publisher Copyright:
© 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2024
Y1 - 2024
N2 - To develop a quadruped wheeled robot with high mobility, we have designed and developed the leg mechanism of a quadruped wheeled robot, named “MELEW-2LR” (MEiji LEg-Wheeled Robot–No.2 Leg Refined). MELEW-2LR has a total of 4 degrees of freedom (DoFs), which include translational movements of the leg tip in 3 directions (forward/backward, left/right, and up/down) and rotation of the leg tip in the Yaw direction to control the steering angle of the wheel when turning. The leg mechanism uses a 4-DoF parallel link mechanism that combines spherical links and parallel links to achieve high output. In addition, all motors are located at the hip joint to reduce inertia in the leg. Furthermore, a system was constructed to calculate the motor angle from the leg tip position by solving inverse kinematics on PC and to provide the angle command value to the brushless DC motor via a microcontroller. Evaluation experiments were conducted on the leg, and it was shown that accurate position control in the three translational directions and in the Yaw direction was possible, as well as bending and stretching movements with a payload equivalent to the leg mass.
AB - To develop a quadruped wheeled robot with high mobility, we have designed and developed the leg mechanism of a quadruped wheeled robot, named “MELEW-2LR” (MEiji LEg-Wheeled Robot–No.2 Leg Refined). MELEW-2LR has a total of 4 degrees of freedom (DoFs), which include translational movements of the leg tip in 3 directions (forward/backward, left/right, and up/down) and rotation of the leg tip in the Yaw direction to control the steering angle of the wheel when turning. The leg mechanism uses a 4-DoF parallel link mechanism that combines spherical links and parallel links to achieve high output. In addition, all motors are located at the hip joint to reduce inertia in the leg. Furthermore, a system was constructed to calculate the motor angle from the leg tip position by solving inverse kinematics on PC and to provide the angle command value to the brushless DC motor via a microcontroller. Evaluation experiments were conducted on the leg, and it was shown that accurate position control in the three translational directions and in the Yaw direction was possible, as well as bending and stretching movements with a payload equivalent to the leg mass.
KW - Leg mechanism
KW - Leg-wheeled robot
KW - Parallel link
KW - Spherical link
UR - http://www.scopus.com/inward/record.url?scp=85181981334&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85181981334&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-47272-5_2
DO - 10.1007/978-3-031-47272-5_2
M3 - Conference contribution
AN - SCOPUS:85181981334
SN - 9783031472718
T3 - Lecture Notes in Networks and Systems
SP - 15
EP - 27
BT - Synergetic Cooperation Between Robots and Humans - Proceedings of the CLAWAR 2023 Conference—Volume 2
A2 - Youssef, Ebrahim Samer El
A2 - Tokhi, Mohammad Osman
A2 - Silva, Manuel F.
A2 - Rincon, Leonardo Mejia
PB - Springer Science and Business Media Deutschland GmbH
T2 - 26th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2023
Y2 - 2 October 2023 through 4 October 2023
ER -