Bio-inspired knee joint mechanism for a hydraulic quadruped robot

Hamza Khan, Roy Featherstone, Darwin G. Caldwell, Claudio Semini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and versatile legged robot, it is essential to have lightweight legs with optimized design and suitable actuators for the desired robot performance and tasks. The design goals are to achieve 1) a wide range of motion for bigger foot workspace which will increase rough terrain walking performance by increasing the number of reachable footholds for each step, 2) optimized joint torque curve since torque output is related to joint angle if linear actuators like pistons are used. In this paper, we focus on the knee joint and propose the adaptation and optimization of the so-called isogram mechanism. It exhibits a changeable instantaneous center of rotation (CICR), similar to a human knee joint. We will show how an optimization of design parameters lead to a knee joint design that satisfies the above-mentioned goals. The main contributions of this paper are the kinematic and torque analysis of the isogram mechanism that is actuated by a linear actuator; the optimization of the mechanism's design parameters; a comparison between the proposed knee joint with the hinge-type knee joint of the quadruped robot HyQ; and experimental results of a proof-of-concept prototype leg featuring the proposed mechanism.

Original languageEnglish
Title of host publicationICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
EditorsDonald Bailey, Serge Demidenko, G. Sen Gupta
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages325-331
Number of pages7
ISBN (Electronic)9781479964666
DOIs
Publication statusPublished - 9 Apr 2015
Event6th International Conference on Automation, Robotics and Applications, ICARA 2015 - Queenstown, New Zealand
Duration: 17 Feb 201519 Feb 2015

Conference

Conference6th International Conference on Automation, Robotics and Applications, ICARA 2015
CountryNew Zealand
CityQueenstown
Period17/02/1519/02/15

Fingerprint

Hydraulics
Robots
Linear actuators
Torque
Hinges
Pistons
Kinematics
Navigation
Actuators

Keywords

  • Joints
  • Knee
  • Torque
  • Legged locomotion
  • Actuators
  • Optimization

Cite this

Khan, H., Featherstone, R., Caldwell, D. G., & Semini, C. (2015). Bio-inspired knee joint mechanism for a hydraulic quadruped robot. In D. Bailey, S. Demidenko, & G. S. Gupta (Eds.), ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications (pp. 325-331). [7081168] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARA.2015.7081168
Khan, Hamza ; Featherstone, Roy ; Caldwell, Darwin G. ; Semini, Claudio. / Bio-inspired knee joint mechanism for a hydraulic quadruped robot. ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications. editor / Donald Bailey ; Serge Demidenko ; G. Sen Gupta. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 325-331
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Khan, H, Featherstone, R, Caldwell, DG & Semini, C 2015, Bio-inspired knee joint mechanism for a hydraulic quadruped robot. in D Bailey, S Demidenko & GS Gupta (eds), ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications., 7081168, Institute of Electrical and Electronics Engineers Inc., pp. 325-331, 6th International Conference on Automation, Robotics and Applications, ICARA 2015, Queenstown, New Zealand, 17/02/15. https://doi.org/10.1109/ICARA.2015.7081168

Bio-inspired knee joint mechanism for a hydraulic quadruped robot. / Khan, Hamza; Featherstone, Roy; Caldwell, Darwin G.; Semini, Claudio.

ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications. ed. / Donald Bailey; Serge Demidenko; G. Sen Gupta. Institute of Electrical and Electronics Engineers Inc., 2015. p. 325-331 7081168.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AU - Featherstone, Roy

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AU - Semini, Claudio

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N2 - Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and versatile legged robot, it is essential to have lightweight legs with optimized design and suitable actuators for the desired robot performance and tasks. The design goals are to achieve 1) a wide range of motion for bigger foot workspace which will increase rough terrain walking performance by increasing the number of reachable footholds for each step, 2) optimized joint torque curve since torque output is related to joint angle if linear actuators like pistons are used. In this paper, we focus on the knee joint and propose the adaptation and optimization of the so-called isogram mechanism. It exhibits a changeable instantaneous center of rotation (CICR), similar to a human knee joint. We will show how an optimization of design parameters lead to a knee joint design that satisfies the above-mentioned goals. The main contributions of this paper are the kinematic and torque analysis of the isogram mechanism that is actuated by a linear actuator; the optimization of the mechanism's design parameters; a comparison between the proposed knee joint with the hinge-type knee joint of the quadruped robot HyQ; and experimental results of a proof-of-concept prototype leg featuring the proposed mechanism.

AB - Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and versatile legged robot, it is essential to have lightweight legs with optimized design and suitable actuators for the desired robot performance and tasks. The design goals are to achieve 1) a wide range of motion for bigger foot workspace which will increase rough terrain walking performance by increasing the number of reachable footholds for each step, 2) optimized joint torque curve since torque output is related to joint angle if linear actuators like pistons are used. In this paper, we focus on the knee joint and propose the adaptation and optimization of the so-called isogram mechanism. It exhibits a changeable instantaneous center of rotation (CICR), similar to a human knee joint. We will show how an optimization of design parameters lead to a knee joint design that satisfies the above-mentioned goals. The main contributions of this paper are the kinematic and torque analysis of the isogram mechanism that is actuated by a linear actuator; the optimization of the mechanism's design parameters; a comparison between the proposed knee joint with the hinge-type knee joint of the quadruped robot HyQ; and experimental results of a proof-of-concept prototype leg featuring the proposed mechanism.

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KW - Torque

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M3 - Conference contribution

SP - 325

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BT - ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications

A2 - Bailey, Donald

A2 - Demidenko, Serge

A2 - Gupta, G. Sen

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Khan H, Featherstone R, Caldwell DG, Semini C. Bio-inspired knee joint mechanism for a hydraulic quadruped robot. In Bailey D, Demidenko S, Gupta GS, editors, ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications. Institute of Electrical and Electronics Engineers Inc. 2015. p. 325-331. 7081168 https://doi.org/10.1109/ICARA.2015.7081168