Şafak Koray K, Baturalp Turgut Batuhan, Bozkurt Selim
Department of Mechanical Engineering, Yeditepe University, Ataşehir, 34755 İstanbul, Türkiye.
Department of Mechanical Engineering, Texas Tech University, P.O. Box 41021, Lubbock, TX 79409, USA.
Biomimetics (Basel). 2023 Aug 5;8(4):346. doi: 10.3390/biomimetics8040346.
This study proposes a design approach and the development of a low-power planar biped robot named YU-Bibot. The kinematic structure of the robot consists of six independently driven axes, and it weighs approximately 20 kg. Based on biomimetics, the robot dimensions were selected as the average anthropomorphic dimensions of the human lower extremities. The optimization of the mechanical design and actuator selection of the robot was based on the results of parametric simulations. The natural human walking gait was mimicked as a walking pattern in these simulations. As a result of the optimization, a low power-to-weight ratio of 30 W/kg was obtained. The drive system of the robot joints consists of servo-controlled brushless DC motors with reduction gears and additional bevel gears at the knee and ankle joints. The robot features spring-supported knee and ankle joints that counteract the robot's weight and compensate for the backlash present in these joints. The robot is constrained to move only in the sagittal plane by using a lateral support structure. The robot's feet are equipped with low-cost, force-sensitive resistor (FSR)-type sensors for monitoring ground contact and zero-moment point (ZMP) criterion. The experimental results indicate that the proposed robot mechanism can follow the posture commands accurately and demonstrate locomotion at moderate stability. The proposed parametric natural gait simulation-based design approach and the resulting biped robot design with a low power/weight ratio are the main contributions of this study.
本研究提出了一种设计方法，并开发了一种名为YU - Bibot的低功耗平面双足机器人。该机器人的运动结构由六个独立驱动轴组成，重量约为20千克。基于仿生学，机器人的尺寸选择为人类下肢的平均拟人尺寸。机器人的机械设计优化和执行器选择基于参数模拟结果。在这些模拟中，将自然人类行走步态模拟为行走模式。优化的结果是获得了30 W/kg的低功率重量比。机器人关节的驱动系统由带减速器的伺服控制无刷直流电机以及膝关节和踝关节处的附加锥齿轮组成。该机器人的特点是膝关节和踝关节采用弹簧支撑，以抵消机器人的重量并补偿这些关节中的间隙。通过使用侧向支撑结构，机器人被限制只能在矢状面内移动。机器人的脚部配备了低成本的力敏电阻（FSR）型传感器，用于监测地面接触和零力矩点（ZMP）准则。实验结果表明，所提出的机器人机构能够准确地遵循姿态指令，并在适度稳定性下展示运动。基于参数化自然步态模拟的设计方法以及由此产生的具有低功率/重量比的双足机器人设计是本研究的主要贡献。
