Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg

doi:10.3901/JME.2017.15.101

Abstract

Abstract: Through the performance test of the small biomimetic robot prototype which is developed with the standard Theo Jansen bionic leg (Jansen-leg) mechanism, finding that it has some deficiencies, such as single foot motion trajectory and poor terrain adaptability, for which system optimization and innovation design is researched. As a theoretical analysis basis for optimizing the dynamic kinematics change point, the kinematic modeling of the standard Jansen-leg is established based on the bilateral distance measurement equations. Some novel gait patterns is got which can be used for digitigrades locomotion, obstacle avoidance, walking on mud and climbing by using the reconfigurable optimizing design approach. The innovative design of Jansen-leg mechanism is completed while inherited its advantages, inspired by the process and the results of optimizing design. The new Jansen-leg mechanism is not only has a better obstacle resistance, better ability of crossings irregular terrains and diverse foot motion trajectory patterns, but also with simple control, good coordination of the articulation and many other advantages. It also improves its adaptability of the unstructured terrain environment and expanding the application scope.

Key words: bilateration equation, foot motion trajectory, innovation design, Jansen-leg, optimization design of mechanism

CLC Number:

TP24

ZANG Hongbin, SHEN Lianguan. Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg[J]. Journal of Mechanical Engineering, 2017, 53(15): 101-109.

References

[1] TSUJITA K,KOBAYASHI T,INOURA T,MASUDA T. Gait transition by tuning muscle tones using pneumatic actuators in quadruped locomotion[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,2008:2453-2458.
[2] KAMIMURA A,KUROKAWA H,YOSHIDA E,et al. Automatic locomotion design and experiments for a modular robotic system[J]. IEEE/ASME Transactions on Mechatronics,2005,10(3):314-325.
[3] PAUL C,ROBERTS J W,LIPSON H,et al. Gait production in a temerity based robot[C]//12th International Conference on Advanced Robotics,2005:216-222.
[4] PAUL C. Morphological computation:A basis for the analysis of morphology and control requirements[J]. Robotics and Autonomous Systems,2006,54(8):619-630.
[5] CHAM J G,KARPICK J K,CUTKOSKY M R. Stride period adaptation of a biomimetic running hexapod[J]. The International Journal of Robotics Research,2004,23(2):141-153.
[6] FUKUOKA Y,KIMURA H,COHEN A H. Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts[J]. The International Journal of Robotics Research,2003,22(3-4):187-202.
[7] HENG C,LEO R. Treadmill training enhances the recovery of normal stepping patterns in spinal cord contused rats[J]. Experimental Neurology,2009,216(1):139-147.
[8] ROJAS N,THOMAS F. A coordinate-free approach to tracing the coupler curves of pin-jointed linkages[C]//2011 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference,2011:DETC2011-48147.
[9] RAIBERT M,BLANKESPOOR K,NELSON G,et al. Big Dog,the rough-terrain quadruped robot[C]//Proceedings of the 17th IFAC World Congress. Oxford,UK:IFAC,2008:10822-10825.
[10] PLAYTER R,BUEHLER M,RAIBERT M. BigDog[C]//Unmanned systems technology VⅢ,Bellingham,USA:SPIE,2006:62302O.
[11] Legged squad support systems[EB/OL].[2014-04-09]. http://en.wikipedia.org/wiki/Legged Squad Support System.
[12] 柴汇,孟健,荣学文. 高性能液压驱动四足机器人SCalf的设计与实现[J]. 机器人,2014,36(4):385-391. CHAI Hui,MENG jian,RONG Xuewen. Design and implementation of high-performance hydraulic drive of quadruped robot Scalf[J]. Robot,2014,36(4):385-391.
[13] 李满天,蒋振宇,郭伟,等. 四足仿生机器人单腿系统[J]. 机器人,2014,36(1):21-28. LI Mantian,JIANG Zhenyu,GUO Wei,et al. Single leg system of quadruped bionic robot[J]. Robot,2014,36(1):21-28.
[14] 何玉东,王军政,柯贤峰,等. 足式机器人的稳定行走[J]. 机械工程学报,2016,52(21):1-7. HE Yudong,WANG Junzheng,KE Xianfeng,et al. Stable walking for legged robots[J]. Chinese Journal of Mechanical Engineering,2016,52(21):1-7.
[15] 甄伟鲲,康熙,张新生,等. 一种新型四足变胞爬行机器人的步态规划研究[J]. 机械工程学报,2016,52(11):26-33. ZHEN Weikun,KANG Xi,ZHANG Xinsheng,et al. Gait planning of a novel metamorphic quadruped robot[J]. Journal of Mechanical Engineering,2016,52(11):26-33.
[16] WANG Hongbo,SANG Lingfeng,HU Xing,et al. Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism[J]. Chinese Journal of Mechanical Engineering,2013,26(5):881-891.
[17] XU Yilin,GAO Feng,PAN Yang,et al. Method for six-legged robot stepping on obstacles by indirect force estimation[J]. Chinese Journal of Mechanical Engineering,2016,29(4):669-679.
[18] GIESBRECHT D,WU C Q,SEPEHRI N. Synthesis of a legged walking mechanism "Wind Beast" using theory of mechanism design[C]//Dynamic Walking Conference,2009.
[19] KOMODA K,WAGATSUMA H. Theoretical basis of Theo Jansen linkage for analysis of dynamics by using kinematic constraint formulations[C]//The 22nd Annual Conference of the Japanese Neural Networks Society (JNNS 2012),2012:3-16.
[20] KOMODA K,WAGATSUMA H. A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function[C]//Dynamic Walking Conference,2012.