IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v12y2024i4p559-d1338061.html
   My bibliography  Save this article

A Low-Inertia and High-Stiffness Cable-Driven Biped Robot: Design, Modeling, and Control

Author

Listed:
  • Jun Tang

    (School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
    Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Haiming Mou

    (School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
    Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Yunfeng Hou

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Yudi Zhu

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Jian Liu

    (Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China)

  • Jianwei Zhang

    (Department of Informatics, University of Hamburg, 20146 Hamburg, Germany)

Abstract

In this paper, a biped robot system for dynamic walking is presented. It has two 2-degree-of-freedom (DOF) lightweight legs and a 6-DOF hip. All the joint pulleys of the legs are driven by motors that are placed at the hip using steel cables. Since all the heavy motors are mounted at the hip, the biped robot has remarkably low-mass legs beyond the hip, which guarantees low inertia during walking at high speeds. Utilizing cable-amplification mechanisms, high stiffness and strength are achieved, resulting in better control performance compared to conventional direct-driven methods. Techniques are developed to estimate joint-angle errors caused by the elastic deformation of the cables. To achieve smooth control, we introduce the concept of a virtual leg, which is an imaginary leg connecting the hip joint and the ankle joint. A robust control approach based on the “virtual leg” is presented, which considers the variances of the virtual leg length during walking. Experiments are conducted to validate the effectiveness of the mechanical design and the proposed control approach.

Suggested Citation

  • Jun Tang & Haiming Mou & Yunfeng Hou & Yudi Zhu & Jian Liu & Jianwei Zhang, 2024. "A Low-Inertia and High-Stiffness Cable-Driven Biped Robot: Design, Modeling, and Control," Mathematics, MDPI, vol. 12(4), pages 1-18, February.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:4:p:559-:d:1338061
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/12/4/559/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/12/4/559/
    Download Restriction: no
    ---><---

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:12:y:2024:i:4:p:559-:d:1338061. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.