KOU-III：一种四旋翼辅助运动的两足机器人

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

{"title":"KOU-III：一种四旋翼辅助运动的两足机器人","authors":"Xianwu Zeng , Lishu Huang , Guoteng Zhang , Yibin Li","doi":"10.1016/j.mechatronics.2025.103310","DOIUrl":null,"url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103310"},"PeriodicalIF":3.1000,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"KOU-III: A bipedal robot with quadrotor-assisted locomotion\",\"authors\":\"Xianwu Zeng , Lishu Huang , Guoteng Zhang , Yibin Li\",\"doi\":\"10.1016/j.mechatronics.2025.103310\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>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.</div></div>\",\"PeriodicalId\":49842,\"journal\":{\"name\":\"Mechatronics\",\"volume\":\"107 \",\"pages\":\"Article 103310\"},\"PeriodicalIF\":3.1000,\"publicationDate\":\"2025-03-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechatronics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0957415825000194\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0957415825000194","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

摘要

本文介绍了一种四旋翼辅助运动的双足机器人样机KOU-III。该系统每条腿有三个旋转关节和四个转子执行器，总共集成了10个独立的执行器。目标是通过四旋翼辅助来提高机器人的运动性能，而不是实现多模式运动。在原型设计中，我们将减速器中行星载体的悬臂结构修改为桥式设计，提高了膝关节执行机构的刚度和紧凑性。然后开发了一种简单的运动控制策略，使机器人能够执行站立，行走和跳跃动作。实验结果表明，四旋翼辅助可以显著提高双足机器人的稳定性和运动性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

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

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

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.