Design of Parallel Typed Walking Robot for Improvement of Walking Space and Stability

보행공간과 안정성 향상을 위한 병렬기구 보행로봇의 설계

  • 김치효 (창원대학교 메카트로닉스공학부) ;
  • 박근우 (창원대학교 메카트로닉스연구원) ;
  • 김태성 (창원대학교 메카트로닉스연구원) ;
  • 이민기 (창원대학교 대학원 제어계측공학과)
  • Published : 2008.04.01


This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.


Parallel Typed Walking Robot;Leg Mechanism;Walking Space;Stability Region


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