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 publicationSpringer Tracts in Advanced Robotics
    Pages169-178
    Number of pages10
    Volume66
    EditionSTAR
    DOIs
    Publication statusPublished - 2010
    Event13th International Symposium of Robotics Research, ISRR - Hiroshima
    Duration: 2007 Nov 262007 Nov 29

    Publication series

    NameSpringer Tracts in Advanced Robotics
    NumberSTAR
    Volume66
    ISSN (Print)16107438
    ISSN (Electronic)1610742X

    Other

    Other13th International Symposium of Robotics Research, ISRR
    CityHiroshima
    Period07/11/2607/11/29

    Fingerprint

    Genetic algorithms
    Computer simulation
    Experiments
    Design optimization

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Artificial Intelligence

    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 Springer Tracts in Advanced Robotics (STAR ed., Vol. 66, pp. 169-178). (Springer Tracts in Advanced Robotics; Vol. 66, No. STAR). https://doi.org/10.1007/978-3-642-14743-2_15

    Optimization design of a Stewart platform type leg mechanism for biped walking vehicle. / Hashimoto, Kenji; Sugahara, Yusuke; Lim, Hun Ok; Takanishi, Atsuo.

    Springer Tracts in Advanced Robotics. Vol. 66 STAR. ed. 2010. p. 169-178 (Springer Tracts in Advanced Robotics; Vol. 66, No. STAR).

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

    Hashimoto, K, Sugahara, Y, Lim, HO & Takanishi, A 2010, Optimization design of a Stewart platform type leg mechanism for biped walking vehicle. in Springer Tracts in Advanced Robotics. STAR edn, vol. 66, Springer Tracts in Advanced Robotics, no. STAR, vol. 66, pp. 169-178, 13th International Symposium of Robotics Research, ISRR, Hiroshima, 07/11/26. https://doi.org/10.1007/978-3-642-14743-2_15
    Hashimoto K, Sugahara Y, Lim HO, Takanishi A. Optimization design of a Stewart platform type leg mechanism for biped walking vehicle. In Springer Tracts in Advanced Robotics. STAR ed. Vol. 66. 2010. p. 169-178. (Springer Tracts in Advanced Robotics; STAR). https://doi.org/10.1007/978-3-642-14743-2_15
    Hashimoto, Kenji ; Sugahara, Yusuke ; Lim, Hun Ok ; Takanishi, Atsuo. / Optimization design of a Stewart platform type leg mechanism for biped walking vehicle. Springer Tracts in Advanced Robotics. Vol. 66 STAR. ed. 2010. pp. 169-178 (Springer Tracts in Advanced Robotics; STAR).
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