KOU-III: A bipedal robot with quadrotor-assisted locomotion

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-03-24 DOI:10.1016/j.mechatronics.2025.103310

Xianwu Zeng , Lishu Huang , Guoteng Zhang , Yibin Li

引用次数: 0

Abstract

This paper presents KOU-III, a bipedal robot prototype featuring quadrotor-assisted locomotion. With three rotary joints per leg supplemented by four rotor actuators, the system integrates a total of 10 independent actuators. The objective is to enhance the robot’s motion performance through quadrotor assistance rather than achieving multimodal locomotion. In the prototype design, we improved the rigidity and compactness of the knee joint actuator by modifying the cantilever structure of the planetary carrier in the reducer to a bridge-like design. A simple motion control strategy was then developed to enable the robot to perform standing, walking, and jumping motions. Experimental results demonstrate that quadrotor assistance significantly improves both the stability and motion performance of the bipedal robot.

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.