234
Views
2
CrossRef citations to date
0
Altmetric
Research Article

Performance analysis of quadruped robot designed with Desai’s walking leg mechanism

, ORCID Icon, , &
Pages 282-295 | Received 12 Jun 2021, Accepted 06 Jun 2022, Published online: 16 Jun 2022

References

  • Abdolrasol, M. G., S. M. Hussain, T. S. Ustun, M. R. Sarker, M. A. Hannan, R. Mohamed, J. A Ali, S. Mekhilef, and A. Milad. 2021. “Artificial Neural Networks Based Optimization Techniques: A Review.” Electronics 10 (21): 2689. doi:10.3390/electronics10212689.
  • Bansal, G., A. Mahajan, S. Kandari, A. Usmani, and K.S. Panwar. 2021. “Design and Analysis of Customized Mechanisms for Various Robotic Applications: A Mini Review.” Materials Today: Proceedings 46: 10404–10410. doi:10.1016/j.matpr.2020.12.790.
  • Bhavsar, K., D. Gohel, P. Darji, J. Modi, and U. Parmar. 2020. “Kinematic Analysis of Theo Jansen Mechanism-Based Eight-Leg Robot.“ In Advances in Fluid Mechanics and Solid Mechanics, edited by Maity, Damodar, Siddheshwar, Pradeep G., Saha, Dr. Sunanda, 75–82. Singapore: Springer. https://doi.org/10.1007/978-981-15-0772-4_6
  • Bledt, G., M.J. Powell, B. Katz, J. Di Carlo, P.M. Wensing, and S. Kim, 2018. “MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot”. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1 - 5 October 2018, Madrid, Spain, October (pp. 2245–2252). IEEE. doi: 10.1109/IROS.2018.8593885.
  • Desai, S.G., A.R. Annigeri, and A. TimmanaGouda. 2019. “Analysis of a New Single degree-of-freedom Eight Link Leg Mechanism for Walking Machine.” Mechanism and Machine Theory 140: 747–764. doi:10.1016/j.mechmachtheory.2019.06.002.
  • Di Gregorio, R., and L. Vocenas. 2021. “Identification of Gait-Cycle Phases for Prosthesis Control.” Biomimetics 6 (2): 22. doi:10.3390/biomimetics6020022.
  • Ding, H., W. Yang, and A. Kecskeméthy. 2022. “Conceptual Creative Design of Mechanisms.” In Automatic Structural Synthesis and Creative Design of Mechanisms, 243–262. Singapore: Springer. doi:10.1007/978-981-19-1508-6_16.
  • Geonea, I.D., C. Alexandru, A. Margine, and A. Ungureanu. 2013. “Design and Simulation of a Single DOF human-like Leg Mechanism.” Applied Mechanics and Materials 332: 491–496. www.scientific.net/amm.332.491
  • Giesbrecht, D. 2016. Design and Optimization of a one-degree-of-freedom eight-bar Leg Mechanism for a Walking Machine. Winnipeg, Manitoba: The University of Manitoba. http://hdl.handle.net/1993/3922
  • Gutarra, A., S. Palomino, and E.J. Alegria, 2021. “Hexapod Walking Mechanism Based on the Klann Linkage for a 2 DoF Amphibious Robot”. In International Symposium on Multibody Systems and Mechatronics, October (pp. 302–310). Springer, Cham. doi:10.1007/978-3-030-60372-4_34.
  • Hirai, K., M. Hirose, Y. Haikawa, and T. Takenaka, 1998. “The Development of Honda Humanoid Robot”. In Proceedings. 1998 IEEE international conference on robotics and automation (Cat. No. 98CH36146) 20-20 May 1998, Leuven, Belgium, (Vol. 2, pp. 1321–1326). IEEE. doi: 10.1109/ROBOT.1998.677288.
  • Jiang, M., R. Song, and N. Gravish, 2020. “Knuckles that Buckle: Compliant Underactuated Limbs with Joint Hysteresis Enable Minimalist Terrestrial Robots”. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 25-29 October 2020, The Caesars Forum Conventional Center in Las Vegas, USA (pp. 3732–3738). IEEE. doi:10.1109/IROS45743.2020.9341618.
  • Liang, C., M. Ceccarelli, and Y. Takeda, 2008. “Operation Analysis of a one-DOF Pantograph Leg Mechanisms”. Proceedings of the RAAD, September 15-17, 2008, Ancona, Italy, 8, 1–10.
  • Lokhande, N.G., and V.B. Emche. 2013. “Mechanical Spider by Using Klann Mechanism.” International Journal of Mechanical Engineering and Computer Applications 1 (5): 13–16.
  • Mao, Liheng, Feng Gao, Yuan Tian, and Yue Zhao. 2020. “Novel Method for Preventing Shin-Collisions in Six-Legged Robots by Utilizing a Robot–terrain Interference Model.” Mechanism and Machine Theory. doi:10.1016/j.mechmachtheory.2020.103897.
  • Mertyüz, İ., A.K. Tanyıldızı, B. Taşar, A.B. Tatar, and O. Yakut. 2020. “FUHAR: A Transformable wheel-legged Hybrid Mobile Robot.” Robotics and Autonomous Systems 133: 103627. doi:10.1016/j.robot.2020.103627.
  • MohdIsharudden, F., H. Mohamed, Z.M. Rafaai, T.Y.W. Ho, and M.S. Kamarudin. 2020. “Design and Prototyping of a Motorized Legged Robot with Klann Linkage Mechanism.” International Journal of Emerging Technologies in Engineering Research 8 (5): 1941–1945. doi:10.30534/ijeter/2020/77852020.
  • Prashanth, N., R.M. Manoj, and B. Nikhil. 2019. “Influence of Link Lengths & Input Angles on the Foot Locus Trajectory of Klann Mechanism.” IOP Conference Series: Materials Science and Engineering 624 (1): 012014. October. IOP Publishing. doi:10.1088/1757-899X/624/1/012014.
  • Raghavendra, B. V., and A. R. Annigeri. 2021. “Optimal Synthesis of Planar eight-link Walking Leg Mechanism Using Genetic Algorithm.” International Journal of Modelling, Identification and Control 38 (2): 152–164. doi:10.1504/IJMIC.2021.122498.
  • Raibert, M., K. Blankespoor, G. Nelson, and R. Playter. 2008. “Bigdog, the rough-terrain Quadruped Robot.” IFAC Proceedings Volumes 41 (2): 10822–10825. doi:10.3182/20080706-5-KR-1001.01833.
  • Rowland Teisha. 2013. “Stepping Science: Estimating Somebody’s Height from Their Walk”, Science Buddies. https://www.sciencebuddies.org/stem-activities/stepping-science-estimating-somebodys-height-from-their-walk#
  • Roy, S.S., and D.K. Pratihar. 2013. “Dynamic Modeling, Stability and Energy Consumption Analysis of a Realistic six-legged Walking Robot.” Robotics and Computer-Integrated Manufacturing 29 (2): 400–416. doi:10.1016/j.rcim.2012.09.010.
  • Safartoobi, M., M. Dardel, and H.M. Daniali. 2021. “Gait Cycles of Passive Walking Biped Robot Model with Flexible Legs.” Mechanism and Machine Theory 159: 104292. doi:10.1016/j.mechmachtheory.2021.104292.
  • Sehgal, R., A. Tiwari, and V. Sood, 2005. “Design, Analysis and Fabrication of a Six-Legged Walking Machine”. World Tribology Congress, September 12–16, 2005, Washington, D.C., USA, January (Vol. 42029, pp. 269–270).
  • Shieh, W.B. 1996. Design and Optimization of Planar Leg Mechanisms Featuring Symmetrical foot-point Paths. College Park: University of Maryland.
  • Spenneberg, D., M. Albrecht, T. Backhaus, J. Hilljegerdes, F. Kirchner, A. Strack, and H. Zschenker, . “Aramies: A four-legged Climbing and Walking Robot”, September. https://www.semanticscholar.org/paper/ARAMIES%3A-A-FOUR-LEGGED-CLIMBING-AND-WALKING-ROBOT-Spenneberg-Albrecht/ea12c58109e645af9500e34e792bc3f36d145c3c
  • Teli, S.N., R. Agarwal, D. Bagul, P. Badawane, and R. Bandre. 2019. “Design and Fabrication of Multi Legged Robot.” International Research Journal of Engineering and Technology 6 (3): 1–11.
  • Vanitha, U., V. Premalatha, M. NithinKumar, and S. Vijayaganapathy. 2015. “Mechanical Spider Using Klann Mechanism.” Scholars Journal of Engineering and Technology (SJET) 3 (9): 737–740.
  • Wu, J., and Y.A. Yao. 2018. “Design and Analysis of a Novel Walking Vehicle Based on Leg Mechanism with Variable Topologies.” Mechanism and Machine Theory 128: 663–681. doi:10.1016/j.mechmachtheory.2018.07.008.
  • Wu, J., H. Yang, R. Li, Q. Ruan, S. Yan, and Y.A. Yao. 2021. “Design and Analysis of a Novel Octopod Platform with a Reconfigurable Trunk.” Mechanism and Machine Theory 156: 104134. doi:10.1016/j.mechmachtheory.2020.104134.
  • Xu, K., and H. Liu. 2022. “Design of a Flexure-Jointed Linkage in a Quadruped Walking Robot.” IEEE/ASME Transactions on Mechatronics 1–11. doi:10.1109/TMECH.2022.3150963.

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.