Authors N.A. Pavlyuk, V.Yu. Budkov, M.M. Bizin, A.L. Ronzhin
Month, Year 01, 2016 @en
Index UDC 004.5
Abstract In this paper, we consider the problem of design engineering of anthropomorphic robot’s legs. An overview of the existing anthropomorphic robots and an analysis of servomechanisms and bearing parts involved in the assembly of robot’s legs are presented. We propose an option for constructing the legs of the robot Antares under development. A twin-engine layout, used in the knee joint, ensures higher joint power along with independent interaction with the neighboring hip joints and tibia joints when bending. The larger bending angle of knee joint relative to the single-engine layout is achieved. The displacement of the center of mass while performing simple movements is minimized. Each leg has 6 degrees of freedom independent from other robot units. The number of degrees of freedom of each leg integrated with pelvic mechanism rises to 7. The developed solution for Antares’ legs has 14 degrees of freedom. At the stage of the prototype manufacture the Dynamixel actuators produced by Robotis are used to validate and debug the units operation. To reduce the electrical load on the main battery of the robot, the femoral parts of the legs are provided with a mounting pad for additional batteries powering servos. The technical characteristics of the used actuators as well as the rotation angles of leg joints are discussed. Direct control of the servos is also carried out through the sub-controllers, responsible for all 6 engines installed in the articular joints of the robot"s legs. The application of the robot Antares is focused on the educational purposes, particularly on participation in robot soccer competitions, as well as on the development of assistive technology of human-computer interaction based on multimodal interfaces.

Download PDF

Keywords Anthropomorphic robots; servomechanisms; kinematic scheme; Antares; component parts design; twin-engine knee; pelvic mechanism.
References 1. Kudryashov V.B., Lapshov V.S., Noskov V.P., Rubtsov I.V. Problemy robotizatsii VVT v chasti nazemnoy sostavlyayushchey [Problems of robotization for military ground technics], Izvestiya YuFU. Tekhnicheskie nauki [izvestiya SFedU. Engineering Sciences], 2014, No. 3 (152), pp. 42-57.
2. Koval'chuk A.K., Kulakov D.B., Semenov S.E., Yarots V.V., Vereykin A.A., Kulakov B.B., Karginov L.A. Metod proektirovaniya prostranstvennykh drevovidnykh ispolnitel'nykh mekhanizmov shagayushchikh robotov [Method for designing spatial tree-like actuators of walking robots], Inzhenernyy vestnik. MGTU N.E. Baumana [Engineering bulletin of the Bauman MSTU], 2014, No. 11, pp. 6-10.
3. Karpenko A.P. Robototekhnika i sistemy avtomatizirovannogo proektirovaniya: Uchebnoe posobie [Robotics and computer-aided design systems. Teaching guide]. Moscow: Izd-vo MGTU im. N.E. Baumana [Bauman MTSU Publ. House], 2014, 71 p.
4. Lapshin V.V. Mekhanica i upravlenie dvizheniem shagayushchikh mashin [Mechanics and motion control of walking machines], Moscow, Izd-vo MGTU im. N.E. Baumana [Bauman MTSU Publ. House], 2012. 19 p.
5. Lapshin V.V. Ob ustoychivosti dvizheniya shagayushchikh mashin [About the walking machine motion stability], Nauka I Obrazovanie. MGTU im. N.E. Baumana [Science and Education of the Bauman MTSU], 2014, No. 6, pp. 319-335.
6. Zeltser A.G., Vereikin A.A., Goyhman A.V., Savchenko A.G., Zhukov A.A., Demchenko M.A. Kontseptsiya ekzoskeleta kapsul’nogo tipa dlya avariynospasatel’nykh operatsiy [The concept of capsular exoskeleton for rescue operations] Inzhenernyy vestnik MGTU im. N.E. Baumana
[Egineering bulletin of the Bauman MSTU], 2015, No 3, pp. 14-22.
7. Vereikin A.A., Kovalchuk A.K., Karginov L.A. Issledovanie dinamiki ispolnitel’nogo mekhanizma ekzoskeleta nizhnikh konechnostej s uchyotom reakcij opornoj poverkhnosti [The Lower Extremities Exoskeleton Actuator Dynamics Research Taking into Account Support Reaction] Nauka I Obrazovanie. MGTU im. N.E. Baumana [Science and Education of the Bauman
MTSU], 2014, No 29, pp. 256-278.
8. Warnakulasooriyaa S., Bagheria A., Sherburnb N., Shanmugavel M. Bipedal Walking Robot – A developmental design, Procedia engineering, 2012, No. 41, pp. 1016-1021.
9. Lima S.C., Yeapa G.H. The Locomotion of Bipedal Walking Robot with Six Degree of Freedom, Procedia Engineering, 2012, No. 41, pp. 8-14.
10. Yoo J.K., Lee B.J., Kim. J.H. Recent Progress and Development of the Humanoid Robot Hansaram, Robotics and Autonomous Systems, 2009, No. 57, pp. 973-981.
11. Buschmann T., Lohmeier S., Ulbrich H. Humanoid Robot Lola: Design and Walking Control, Journal of Physiology, 2009, No. 103, pp. 141-148.
12. Mohameda Z., Capi G. Development of a New Mobile Humanoid Robot for Assisting Elderly People, Procedia Engineering, 2012, Vol. 41, ppP. 345-351.
13. Nakashima M., Tsunoda Y. Improvement of Crawl Stroke for the Swimming Humanoid Robot to Establish an Experimental Platform for Swimming Research, Procedia Engineering, 2015, Vol. 112, p. 517-521.
14. Shah S.V., Saha S.K., Dutt J.K. Modular Framework for Dynamic Modeling and Analyses of Legged Robots, Mechanism and Machine Theory, 2012, No. 49, pp. 234-255.
15. Yua X., Fub C., Chen K. Modeling and Control of a Single-legged Robot, Procedia Engineering, 2011, Vol. 24, pp. 788-792.
16. Potts A.S., Jaime da Cruz J. A Comparison Between Free Motion Planning Algorithms Applied to a Quadruped Robot Leg, IFAC-papersonline, 2015, No. 48-19, pp. 019-024.
17. Rostro-Gonzalez H., Cerna-Garcia P.A., Trejo-Caballero G., Garcia-Capulin C.H., Ibarra-Manzano M.A., Avina-Cervantes J.G., Torres-Huitzil C. A CPG System Based on Spiking Neurons for Hexapod Robot Locomotion, Neurocomputing, 2015, Vol. 170, pp. 47-54.
18. Pan P.S., Wu C.M. Design of a Hexapod Robot with a Servo Control and a Man-Machine Interface, Robotics and Computer-Integrated manufacturing, 2012, Vol. 28, pp. 351-358.
19. Vidoni R., Gasparetto A. Efficient Force Distribution and Leg Posture for a Bio-Inspired Spider Robot, Robotics and Autonomous Systems, 2011, Vol. 59, pp 142-150.
20. Электронный каталог компаний «ROBOTIS». Режим доступа: (дата обращения: 03.03.16).
21. Ронжин А.Л., Будков В.Ю., Ронжин А.Л. Технологии формирования аудиовизуального интерфейса системы телеконференций // Автоматизация. Современные технологии. – 2011. – № 5. – С. 20-26.
22. Карпов А.А., Ронжин А.Л. Многомодальные интерфейсы в автоматизированных системах управления // Известия высших учебных заведений. Приборостроение. – 2005. –Т. 48, № 7. – С. 9-14.
23. Karpov A.A., Ronzhin A.L. Information Enquiry Kiosk with Multimodal User Interface // Pattern Recognition and Image Analysis, Moscow: MAIK Nauka/Interperiodica. – 2009. – Vol. 19, № 3. – P. 546-558.

Comments are closed.