Optimization design of a Stewart platform type leg mechanism for biped walking vehicle

Kenji Hashimoto, Yusuke Sugahara, Hun Ok Lim, Atsuo Takanishi

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

3 Citations (Scopus)

Abstract

To increase the maximum payload, the joint arrangement of the Stewart platform type leg mechanism for a biped walking vehicle is optimized by a dynamic simulation and a real-coded genetic algorithm. Using effective joint arrangement, the maximum RMS (root-mean-square) value of the current will be able to be reduced. A new prototype of a biped walking vehicle, WL-16RIV, was developed by using the optimal joint arrangement method. Weight saving in some parts was also conducted. Through walking experiments, the maximum RMS value of the current was reduced, and the maximum payload was increased. The effectiveness of the proposed method was confirmed.

Original languageEnglish
Title of host publicationRobotics Research
Subtitle of host publicationThe 13th International Symposium ISRR
Pages169-178
Number of pages10
EditionSTAR
DOIs
Publication statusPublished - 2010 Dec 1
Event13th International Symposium of Robotics Research, ISRR - Hiroshima, Japan
Duration: 2007 Nov 262007 Nov 29

Publication series

NameSpringer Tracts in Advanced Robotics
NumberSTAR
Volume66
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference13th International Symposium of Robotics Research, ISRR
CountryJapan
CityHiroshima
Period07/11/2607/11/29

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Fingerprint Dive into the research topics of 'Optimization design of a Stewart platform type leg mechanism for biped walking vehicle'. Together they form a unique fingerprint.

  • Cite this

    Hashimoto, K., Sugahara, Y., Lim, H. O., & Takanishi, A. (2010). Optimization design of a Stewart platform type leg mechanism for biped walking vehicle. In Robotics Research: The 13th International Symposium ISRR (STAR ed., pp. 169-178). (Springer Tracts in Advanced Robotics; Vol. 66, No. STAR). https://doi.org/10.1007/978-3-642-14743-2_15