Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator
Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator
复制标题
使用薄软 McKibben 致动器的长腿六足贾科梅蒂机器人
DOI：
10.1109/lra.2017.2734244
复制
发表时间：
2018
影响因子：
5.2
通讯作者：
Koichi Suzumori
中科院分区：
文献类型：
--
作者：
Ahmad Athif Mohd Faudz;Gen Endo;Shunichi Kurumaya;Koichi Suzumori
这封信介绍了一个轻量级的六足机器人，贾科梅蒂机器人，与长而窄的腿根据阿尔贝托贾科梅蒂的雕塑概念。首先，使用具有薄且软的McKibben致动器的多个连杆，其次，选择与其身体的长度和高度相比较窄的腿设计，这与传统的机器人设计不同。通过这种设计特性，由于薄连杆结构的低刚度特性，腿将呈现弹性变形。然后，我们建立腿部结构模型，并进行挠度分析，以确认腿执行步行运动的能力。如静态模型所示，致动器的高力重比特性提供了驱动系统的能力，并通过实验进一步验证。为了补偿腿部的高弹性结构灵活性，引入了两种步行步态，即定制的Wave步态和Giacometti步态。机器人可以成功地步行与两个步态在最大速度分别为0.005和0.05米/秒。据设想，轻量级贾科梅蒂机器人设计可以是非常有用的腿机器人探索。
This letter introduces a lightweight hexapod robot, Giacometti robot, made with long and narrow legs following the Alberto Giacometti's sculpture conception. The goal is achieved by, first, using multiple links with thin and soft McKibben actuators, and second, choosing a leg design which is narrow in comparison to its body's length and height, unlike conventional robot design. By such design characteristic, the leg will exhibit elastic deformations due to the low stiffness property of the thin link structure. Then, we model the leg structure and conduct the deflection analysis to confirm the capability of the leg to perform walking motion. The high force to weight ratio characteristics of the actuator provided the ability to drive the system, as shown by a static model and further validated experimentally. To compensate for the high elastic structural flexibility of the legs, two walking gaits namely customized Wave gait and Giacometti gait were introduced. The robot could walk successfully with both gaits at maximum speed of 0.005 and 0.05 m/s, respectively. It is envisaged that the lightweight Giacometti robot design can be very useful in legged robotic exploration.