A Biped Walking Mechanism for a Rickshaw Robot

• Autores: Erika Ottaviano, Salvatore Grande, Marco Ceccarelli
• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 38, Nº. 2, 2010, págs. 227-242
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • In this paper a 1-DOF- (degree of freedom) biped machine is presented to be used for a rickshaw robot. Main features for the proposed biped walking system are low-cost design and easy-operation in terms of compactness, light weight, and reduced number of DOFs. A numerical characterization is proposed with a suitable kinematic analysis. A prototype has been built and experimental tests have been carried out to validate the proposed design and test its practical feasibility for a rickshaw robot. The robot has been tested in several operating conditions