Design of a Single Actuator Walking Robot via Mechanism Synthesis Based on Genetic Algorithms
Journal: Journal of Robotics and Mechanical Engineering Research (Vol.2, No. 3)Publication Date: 2018-10-31
Authors : Yang Zhang; Vigen Arakelian;
Page : 1-7
Keywords : Mechanism design; Four-bar linkage; Walking robot; Mechanism synthesis; Genetic algorithm.;
Abstract
In the past decades, an extensive research has been focused on legged walking robots. One of the most attractive trends in the design of walking robots is the development of biped robots with reduced number of degrees of freedom. This paper deals with a new solution of a legged walking mechanism with four-bar mechanism and only one actuator. A Genetic algorithm based mechanism synthesis has been implemented in the design of four-bar mechanism. The efficiency of the suggested design of the legged walking robot is illustrated by numerical simulations that carried out via ADAMS, and the results show that this design has the capability of walking both forward and backward.
Other Latest Articles
- Degradation/ Oxidation Susceptibility of Composite Semiconductor; Organic Photovoltaic cell of ZnO/PEDOT: PSS/Graphite
- THE Tl9ErTe6–Tl9BiTe6 SYSTEM AND SOME PROPERTIES OF SOLID SOLUTIONS
- MOLECULAR HYDROGEN PRODUCTION AT RADIATION AND HETEROGENEOUS TRANSFORMATION OF WATER UNDER INFLUENCE OF GAMMA-QUANTA ON MICRO DIMENSIONAL BERYLLIUM OXIDE+ADSORBED WATER SYSTEM
- SYNTHESIS OF COPOLYMERS OF ACETYLPHENYL(METH)ACRYLATES WITH STYRENE
- ON PECULIARITIES OF AMINOMETHYLATION REACTION OF 2-HIDROXY-5-HALOGENACETOPHENONES
Last modified: 2019-01-03 19:08:33