Earticle

초록

영어

Humanoid and walking robots have been widely developed and their use in human environments is not far out of reach. The main problems in practical applications of machine walking are energy consumption, complex control and design, and high cost. The main feasible indoor application of a walking machine is that of a humanoid robot as a companion, nurse, guide, or information desk or reception clerk. In a smart object system environment, such as a smart house where all objects are interconnected, a humanoid robot can provide services for the centralized host or gateway server of the house. It is a mobile system already equipped with sensors, controllers, manipulators (hands) and a communication system. From the features of humanoid robots and of the smart object systems, a new direction of research could emerge embracing parts of both fields. In the interest of furthering the capabilities of walking robots, we designed an approach to further the capability of walking robots. We built a four-legged passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs. Both mechanisms were designed in an attempt to create a simpler and easier-to-adjust knee-locking mechanism. We conducted a series of experiments in which we counted the steps the walker made while walking down an incline and compared the results achieved with the two different knee-locking mechanisms. We also performed a walking cycle investigation of a person walking casually down the same slope used for the walker experiments, calculated the average time intervals within one cycle and made a comparison between the test subject and our walker.

목차

Abstract
 1. Introduction
 2. Design issues and decisions concerning our walker
  2.1. Two or four legs
  2.2. Hip Design
  2.3. Foot Design
  2.4. Knee Design
 3. Knee design evaluation
 4. Walking cycle research and comparison
  4.1. Related work
  4.2. Human and walker cycle comparison
 5. Discussion
  5.1. Knee design evaluation
  5.2. Walking cycle research
 References

키워드

저자

• Kalin Trifonov [ Waseda University, School of Science and Engineering ]
• Guillermo Enriquez [ Waseda University, School of Science and Engineering ]
• Shuji Hashimoto [ Waseda University, School of Science and Engineering ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Multimedia and Ubiquitous Engineering

• 간기

  월간

• pISSN

  1975-0080

• 수록기간

  2008~2016

• 등재여부

  SCOPUS

• 십진분류

  KDC 505 DDC 605