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1、Developmentofawalkingmachine:mechanicaldesignandcontrolproblemsTeresaZielinska*,JohnHengAbstractThispaperdescribes:anoveldesignofthelegdrivemechanism,hardwarearchitectureandthelegcontrolmethodforawalkingmachinebeingdevelopedtostudyvariouswalkinggaitstrategies.Thelegmechanismemploysaninversediffe
2、rentialgeardrivesystemprovidinglargelegliftandswingsweepangleaboutacommonpivotalpointwhilebeingdrivencollectivelybyapairofmotors.Thedevelopmentplatformconsistsofapairoflegsmountedadjacentlytoeachotheronalinearslide.Athree-axispiezotransducerismountedonthefeettomeasurethevariousvectorforcesinthel
3、egsduringthesupportphase.Theforcesensingresultsarepresentedanddiscussed.Currentlyonesmallfour-leggedprototypeandonehexapodareusedforthetestsofdifferentgaitpatterns._2002ElsevierScienceLtd.Allrightsreserved.Keywords:Walkingmachines;Mechanicaldesign;Controlsystemdesign;Forcesensing1.IntroductionIn
4、comparisonwiththeindustrialmanipulators,thetaskofbuildinganadaptable,autonomouswalkingmachineismoredifficult.Walkingmachineshavemoreactivedegreesoffreedom(DOF)thanindustrialrobots.Toenlargethework-spaceoftheleg-end,andthusenhancethemachine’sabilitytoadapttotheterrain,eachlegshouldhaveatleastthre
5、eDOF,whichresultsinatotalof12DOFforaquadrupedor18DOFforahexapod.Allthosejointsmustbecontrolledadequatelyinrealtime.Thisalsomeansthatthehardwareandsoftwaresystemsmustmeetmorecriticalrequirementsthanthoseformulatedforindustrialrobotcontrollers.Moreover,fullyautonomousvehiclesuseonlyon-boardcontrol
6、lersandsothosecontrollershavetobeminiaturizedtoanutmostextent.Thereisnosuchrequirementinthecaseofnonmobilecontrollersofmanipulators.Theoreticalproblemsthatmustbesolvedarenumerous.Fromanoverviewofthepublicationsconcerningthesubjectofmultileggedwalkingmachinesitcanbenoticedthatthemainattentionispa
7、idto:•general(technical)descriptionofprototypes,e.g.,[1],•methodsoffreegaitplanning,e.g.,[2,3],•problemsofgaitsynthesisusingdynamicalorquasi-dynamicalmodelling,(e.g.,forcedistributionproblems)–[4–7],•theproblemsofmotionoptim
