Robot Leg Mechanisms
Journal Title: International Journal for Research in Applied Science and Engineering Technology (IJRASET) - Year 2015, Vol 3, Issue 4
Abstract
The Paper focuses on the walking mechanisms for a moving Robot. It describes designs of the leg drive mechanisms, hardware architecture and the leg control methods for walking machines. The body of knowledge that applies to the mobile wheeled robots is quite well developed. However, autonomous walking vehicles are still relatively new, and the body of knowledge concerning their development is not as well-defined. The difficulty factor in building a legged robot is considerably higher than that for a wheeled robot. In this report a brief introduction is given about the limitations in wheeled and tracked wheeled robots in rocky and hilly terrains and stepped and discontinues paths. The article also discusses the advantage of legged robots over the wheeled robots. The human leg and walking gait, control system, the muscular-skeletal system and the central nervous system have been discussed. Brief guidelines and explanations for the design of leg mechanisms have been presented through the study of various joints, links, sensors and degrees of freedoms in legs. Then a study of various robot leg mechanisms is made to identify their applications and advantages. At the end this paper describes mechanism and control of leg-wheel hybrid mobile robot. Legged locomotion has high adaptability for rough terrain, and wheeled locomotion possesses speed and efficiency. A new locomotion mechanism that combines legs and wheels is proposed in this article.
Authors and Affiliations
R. Vigithra, V. Rajkumar, S. Vigneshwaran
Keywords
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