TY - GEN
T1 - Generative Design of XingT, A Human-sized Heavy-duty Bipedal Robot
AU - Qian, Yizhao
AU - Yang, Peiyu
AU - Liu, Weicheng
AU - Sun, Shuangyuan
AU - Fu, Mengyin
AU - Song, Wenjie
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In order to serve humanity better in the disabled assisting, transportation, rescue, and other aspects, a human-sized bionic bipedal structure with low inertia and high-load capacity is presented. The designed robot named XingT adopts a non-coaxial five-link leg structure, after kinematic modeling analysis and structural comparison, being able to bear a load beyond its weight. Besides, bionic tibia modules and passive compliant units are adopted, effectively absorbing motion impact in high-load and strong-impact scenarios. In addition, with structural design and simulation analysis, the proposed five-link structure can realize multi-mode switching, which can adapt to high load application in the convex five-link form and switch to concave five-link mode for light and flexible walking effect. Results of prototype and simulation experiments showed that it can reduce impacts by 67% and increase the load performance by 22.3%, which verifies its structural performance for future practical application.
AB - In order to serve humanity better in the disabled assisting, transportation, rescue, and other aspects, a human-sized bionic bipedal structure with low inertia and high-load capacity is presented. The designed robot named XingT adopts a non-coaxial five-link leg structure, after kinematic modeling analysis and structural comparison, being able to bear a load beyond its weight. Besides, bionic tibia modules and passive compliant units are adopted, effectively absorbing motion impact in high-load and strong-impact scenarios. In addition, with structural design and simulation analysis, the proposed five-link structure can realize multi-mode switching, which can adapt to high load application in the convex five-link form and switch to concave five-link mode for light and flexible walking effect. Results of prototype and simulation experiments showed that it can reduce impacts by 67% and increase the load performance by 22.3%, which verifies its structural performance for future practical application.
UR - http://www.scopus.com/inward/record.url?scp=85147332149&partnerID=8YFLogxK
U2 - 10.1109/ROBIO55434.2022.10011733
DO - 10.1109/ROBIO55434.2022.10011733
M3 - Conference contribution
AN - SCOPUS:85147332149
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 513
EP - 518
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -