Design Optimization ofaFour-Bar Leg Linkage foraLegged-Wheeled Balancing Robot
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Datum
2023Typ
- Conference Paper
ETH Bibliographie
yes
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Abstract
Balancing legged-wheeled robots have gained popularity in recent years due to their locomotive efficiency while still being able to conquer rough terrain and obstacles. Furthermore, as this type of robot maintains ground contact with its wheels for most of the time, passive gravity compensation mechanisms can greatly minimize power consumption. Various designs with different leg configurations have emerged, whereby a 1-DOF mechanism per leg already showed sufficient compliance to adapt to most outdoor terrain. We propose a design optimization procedure for a 1-DOF four-bar leg linkage to ensure minimum pitch angle correction of the robot’s base while varying the leg extension. Gravity compensation is further achieved through an optimized torsional spring. Finally, we evaluate the performance of the leg linkage and gravity compensation mechanism on real hardware. Mehr anzeigen
Publikationsstatus
publishedExterne Links
Herausgeber(in)
Buchtitel
Robotics in Natural SettingsZeitschrift / Serie
Lecture Notes in Networks and SystemsBand
Seiten / Artikelnummer
Verlag
SpringerKonferenz
Thema
Design optimization; Gravity compensation; Balancing robots; Legged-wheeled robotsETH Bibliographie
yes
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