Abstract
In this paper, a novel parallel mechanism for a biped robot leg is presented with the designed structure and its characteristics. The synthesis of the kinematic chain of the mechanism is described and the kinematic problem is solved.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Chestnutt J, Lau M, Cheung G, Kuffner J, Hodgins J, Kanade T (2005) Footstep planning for the Honda Asimo humanoid. In: Proceedings of the 2005 IEEE international conference on robotics and automation, 2005. ICRA 2005. IEEE, pp 629–634
Gouaillier D, Collette C, Kilner C (2010) Omni-directional closed-loop walk for NAO. In: 2010 10th IEEE-RAS international conference on humanoid robots (humanoids). IEEE, pp 448–454
Lim HO, Takanishi A (2007) Biped walking robots created at Waseda University: WL and WABIAN family. Philos Trans R Soc Lond A: Math Phys Eng Sci 365(1850):49–64
Wang M, Ceccarelli M (2015) Design and simulation of walking operation of a Cassino biped locomotor. In: New trends in mechanism and machine science. Springer International Publishing, pp 613–621
Merlet JP (2012) Parallel robots, vol 74. Springer Science & Business Media
Rey L, Clavel R (1999) The delta parallel robot. In: Parallel kinematic machines. Springer, London, pp 401–417
Knudson D (2007) Fundamentals of biomechanics. Springer Science & Business Media
Ceccarelli M (2004) Fundamentals of mechanics of robotic manipulation, vol 27. Springer Science & Business Media
Firgelli Website (2016) Firgelli L16-R Miniature Linear Servo. http://www.firgelli.com
Cafolla D, Wang M, Carbone G, Ceccarelli M (2016) LARMbot: a new humanoid robot with parallel mechanisms. In: ROMANSY 2016 21st CISM-IFToMM symposium on robot design, dynamics, and control (In print)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Russo, M., Ceccarelli, M. (2017). A Kinematic Solution of a Novel Leg Mechanism with Parallel Architecture. In: Boschetti, G., Gasparetto, A. (eds) Advances in Italian Mechanism Science. Mechanisms and Machine Science, vol 47. Springer, Cham. https://doi.org/10.1007/978-3-319-48375-7_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-48375-7_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48374-0
Online ISBN: 978-3-319-48375-7
eBook Packages: EngineeringEngineering (R0)