TY - GEN
T1 - Optimization design of a Stewart platform type leg mechanism for biped walking vehicle
AU - Hashimoto, Kenji
AU - Sugahara, Yusuke
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-642-14743-2_15
DO - 10.1007/978-3-642-14743-2_15
M3 - Conference contribution
AN - SCOPUS:78651063724
SN - 9783642147425
T3 - Springer Tracts in Advanced Robotics
SP - 169
EP - 178
BT - Robotics Research
T2 - 13th International Symposium of Robotics Research, ISRR
Y2 - 26 November 2007 through 29 November 2007
ER -