Design of a slider-crank leg mechanism for mobile hopping robotic platforms View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2013-01

AUTHORS

Doyoung Chang, Jeongryul Kim, Dongkyu Choi, Kyu-Jin Cho, TaeWon Seo, Jongwon Kim

ABSTRACT

Legged locomotion has been widely researched due to its effectiveness in overcoming uneven terrains. Due to previous efforts there has been much progress in achieving dynamic gait stability and as the next step, mimicking the high speed and efficiency observed in animals has become a research interest. The main barrier in developing such a robotic platform is the limitation in the power efficiency of the actuator: the use of pneumatic actuators produce sufficient power but are heavy and big; electronic motors can be compact but are disadvantageous in producing sudden impact from stall which is required for high speed legged locomotion. As a new attempt in this paper we suggest a new leg design for a mobile robot which uses the slider-crank mechanism to convert the continuous motor rotation into piston motion which is used to impact the ground. We believe this new mechanism will have advantage over conventional leg mechanism designs using electronic motors since it uses the continuous motion of the motor instead of sudden rotation movements from stall state which is not ideal to draw out maximum working condition from an electronic motor. In order to control impact timing from the periodic motion of the piston a mechanical passive clutch trigger mechanism was developed. Dynamic analysis was performed to determine the optimal position for the mechanical switch position of the clutch trigger mechanism, and the results were verified through simulation and experiment. Development of a legged locomotion with two degrees of freedom, slider-crank mechanism for impact and additional actuation for swing motion, is proposed for future work. More... »

PAGES

207-214

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s12206-012-1207-8

DOI

http://dx.doi.org/10.1007/s12206-012-1207-8

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1027902293


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Artificial Intelligence and Image Processing", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Information and Computing Sciences", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Chang", 
        "givenName": "Doyoung", 
        "id": "sg:person.012121665472.10", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012121665472.10"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kim", 
        "givenName": "Jeongryul", 
        "id": "sg:person.013626271632.80", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013626271632.80"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Choi", 
        "givenName": "Dongkyu", 
        "id": "sg:person.014371626021.07", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014371626021.07"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Cho", 
        "givenName": "Kyu-Jin", 
        "id": "sg:person.014247263617.74", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014247263617.74"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Yeungnam University", 
          "id": "https://www.grid.ac/institutes/grid.413028.c", 
          "name": [
            "School of Mechanical Engineering, Yeungnam University, Gyeongsan, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Seo", 
        "givenName": "TaeWon", 
        "id": "sg:person.012275375477.90", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012275375477.90"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kim", 
        "givenName": "Jongwon", 
        "id": "sg:person.013611426734.26", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013611426734.26"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "https://doi.org/10.1016/j.robot.2004.08.010", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1008386848"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.robot.2010.01.007", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1011450728"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.jsv.2005.03.011", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1029813507"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/0278364904045594", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1037212966"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/0278364904045594", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1037212966"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-010-0326-3", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1038031367", 
          "https://doi.org/10.1007/s12206-010-0326-3"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-010-0326-3", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1038031367", 
          "https://doi.org/10.1007/s12206-010-0326-3"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/0278364906069150", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1041332213"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/0278364906069150", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1041332213"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-009-1108-7", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1043890490", 
          "https://doi.org/10.1007/s12206-009-1108-7"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-009-1108-7", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1043890490", 
          "https://doi.org/10.1007/s12206-009-1108-7"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/jra.1986.1087044", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061308618"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/tac.2009.2024565", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061477248"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/icsmc.1993.384792", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1086265806"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2013-01", 
    "datePublishedReg": "2013-01-01", 
    "description": "Legged locomotion has been widely researched due to its effectiveness in overcoming uneven terrains. Due to previous efforts there has been much progress in achieving dynamic gait stability and as the next step, mimicking the high speed and efficiency observed in animals has become a research interest. The main barrier in developing such a robotic platform is the limitation in the power efficiency of the actuator: the use of pneumatic actuators produce sufficient power but are heavy and big; electronic motors can be compact but are disadvantageous in producing sudden impact from stall which is required for high speed legged locomotion. As a new attempt in this paper we suggest a new leg design for a mobile robot which uses the slider-crank mechanism to convert the continuous motor rotation into piston motion which is used to impact the ground. We believe this new mechanism will have advantage over conventional leg mechanism designs using electronic motors since it uses the continuous motion of the motor instead of sudden rotation movements from stall state which is not ideal to draw out maximum working condition from an electronic motor. In order to control impact timing from the periodic motion of the piston a mechanical passive clutch trigger mechanism was developed. Dynamic analysis was performed to determine the optimal position for the mechanical switch position of the clutch trigger mechanism, and the results were verified through simulation and experiment. Development of a legged locomotion with two degrees of freedom, slider-crank mechanism for impact and additional actuation for swing motion, is proposed for future work.", 
    "genre": "research_article", 
    "id": "sg:pub.10.1007/s12206-012-1207-8", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": [
      {
        "id": "sg:journal.1295111", 
        "issn": [
          "1011-8861", 
          "1226-4865"
        ], 
        "name": "Journal of Mechanical Science and Technology", 
        "type": "Periodical"
      }, 
      {
        "issueNumber": "1", 
        "type": "PublicationIssue"
      }, 
      {
        "type": "PublicationVolume", 
        "volumeNumber": "27"
      }
    ], 
    "name": "Design of a slider-crank leg mechanism for mobile hopping robotic platforms", 
    "pagination": "207-214", 
    "productId": [
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "84eade23afc48bb477b5c8f6b1921e1b608a43a82278f0e62cae0f9c6bca06a1"
        ]
      }, 
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/s12206-012-1207-8"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1027902293"
        ]
      }
    ], 
    "sameAs": [
      "https://doi.org/10.1007/s12206-012-1207-8", 
      "https://app.dimensions.ai/details/publication/pub.1027902293"
    ], 
    "sdDataset": "articles", 
    "sdDatePublished": "2019-04-10T23:27", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8693_00000522.jsonl", 
    "type": "ScholarlyArticle", 
    "url": "http://link.springer.com/10.1007%2Fs12206-012-1207-8"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s12206-012-1207-8'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s12206-012-1207-8'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s12206-012-1207-8'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s12206-012-1207-8'


 

This table displays all metadata directly associated to this object as RDF triples.

131 TRIPLES      21 PREDICATES      37 URIs      19 LITERALS      7 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/s12206-012-1207-8 schema:about anzsrc-for:08
2 anzsrc-for:0801
3 schema:author Ndfebeb519103411fa39f89ac08e91084
4 schema:citation sg:pub.10.1007/s12206-009-1108-7
5 sg:pub.10.1007/s12206-010-0326-3
6 https://doi.org/10.1016/j.jsv.2005.03.011
7 https://doi.org/10.1016/j.robot.2004.08.010
8 https://doi.org/10.1016/j.robot.2010.01.007
9 https://doi.org/10.1109/icsmc.1993.384792
10 https://doi.org/10.1109/jra.1986.1087044
11 https://doi.org/10.1109/tac.2009.2024565
12 https://doi.org/10.1177/0278364904045594
13 https://doi.org/10.1177/0278364906069150
14 schema:datePublished 2013-01
15 schema:datePublishedReg 2013-01-01
16 schema:description Legged locomotion has been widely researched due to its effectiveness in overcoming uneven terrains. Due to previous efforts there has been much progress in achieving dynamic gait stability and as the next step, mimicking the high speed and efficiency observed in animals has become a research interest. The main barrier in developing such a robotic platform is the limitation in the power efficiency of the actuator: the use of pneumatic actuators produce sufficient power but are heavy and big; electronic motors can be compact but are disadvantageous in producing sudden impact from stall which is required for high speed legged locomotion. As a new attempt in this paper we suggest a new leg design for a mobile robot which uses the slider-crank mechanism to convert the continuous motor rotation into piston motion which is used to impact the ground. We believe this new mechanism will have advantage over conventional leg mechanism designs using electronic motors since it uses the continuous motion of the motor instead of sudden rotation movements from stall state which is not ideal to draw out maximum working condition from an electronic motor. In order to control impact timing from the periodic motion of the piston a mechanical passive clutch trigger mechanism was developed. Dynamic analysis was performed to determine the optimal position for the mechanical switch position of the clutch trigger mechanism, and the results were verified through simulation and experiment. Development of a legged locomotion with two degrees of freedom, slider-crank mechanism for impact and additional actuation for swing motion, is proposed for future work.
17 schema:genre research_article
18 schema:inLanguage en
19 schema:isAccessibleForFree false
20 schema:isPartOf N896c67dff6c444299c4f17f71b4742b2
21 N9319c1a1a0264dbfb09c73e453cd8a6e
22 sg:journal.1295111
23 schema:name Design of a slider-crank leg mechanism for mobile hopping robotic platforms
24 schema:pagination 207-214
25 schema:productId N788e146287a946e9aac4ad03c478806f
26 N9de3b8acf1aa4d14a816d87bd6c583dd
27 Nf04fbfaa85024f6ebeb84086a306373e
28 schema:sameAs https://app.dimensions.ai/details/publication/pub.1027902293
29 https://doi.org/10.1007/s12206-012-1207-8
30 schema:sdDatePublished 2019-04-10T23:27
31 schema:sdLicense https://scigraph.springernature.com/explorer/license/
32 schema:sdPublisher N48c0f69b24c5499d86445eb11f8762e6
33 schema:url http://link.springer.com/10.1007%2Fs12206-012-1207-8
34 sgo:license sg:explorer/license/
35 sgo:sdDataset articles
36 rdf:type schema:ScholarlyArticle
37 N293a88d679cd4eeebed8a3a8ba94c2bd rdf:first sg:person.013611426734.26
38 rdf:rest rdf:nil
39 N4143344ba8fc483e9995fcbbb68d39fd rdf:first sg:person.013626271632.80
40 rdf:rest Nb58b4a07e00b4d2b92eee549db34729d
41 N48c0f69b24c5499d86445eb11f8762e6 schema:name Springer Nature - SN SciGraph project
42 rdf:type schema:Organization
43 N788e146287a946e9aac4ad03c478806f schema:name doi
44 schema:value 10.1007/s12206-012-1207-8
45 rdf:type schema:PropertyValue
46 N7f40cf88b65e406fadf341b36b7d3036 rdf:first sg:person.014247263617.74
47 rdf:rest Ne13149f7f7cf405f930edf42a0a3ffdd
48 N896c67dff6c444299c4f17f71b4742b2 schema:issueNumber 1
49 rdf:type schema:PublicationIssue
50 N9319c1a1a0264dbfb09c73e453cd8a6e schema:volumeNumber 27
51 rdf:type schema:PublicationVolume
52 N9de3b8acf1aa4d14a816d87bd6c583dd schema:name dimensions_id
53 schema:value pub.1027902293
54 rdf:type schema:PropertyValue
55 Nb58b4a07e00b4d2b92eee549db34729d rdf:first sg:person.014371626021.07
56 rdf:rest N7f40cf88b65e406fadf341b36b7d3036
57 Ndfebeb519103411fa39f89ac08e91084 rdf:first sg:person.012121665472.10
58 rdf:rest N4143344ba8fc483e9995fcbbb68d39fd
59 Ne13149f7f7cf405f930edf42a0a3ffdd rdf:first sg:person.012275375477.90
60 rdf:rest N293a88d679cd4eeebed8a3a8ba94c2bd
61 Nf04fbfaa85024f6ebeb84086a306373e schema:name readcube_id
62 schema:value 84eade23afc48bb477b5c8f6b1921e1b608a43a82278f0e62cae0f9c6bca06a1
63 rdf:type schema:PropertyValue
64 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
65 schema:name Information and Computing Sciences
66 rdf:type schema:DefinedTerm
67 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
68 schema:name Artificial Intelligence and Image Processing
69 rdf:type schema:DefinedTerm
70 sg:journal.1295111 schema:issn 1011-8861
71 1226-4865
72 schema:name Journal of Mechanical Science and Technology
73 rdf:type schema:Periodical
74 sg:person.012121665472.10 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
75 schema:familyName Chang
76 schema:givenName Doyoung
77 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012121665472.10
78 rdf:type schema:Person
79 sg:person.012275375477.90 schema:affiliation https://www.grid.ac/institutes/grid.413028.c
80 schema:familyName Seo
81 schema:givenName TaeWon
82 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012275375477.90
83 rdf:type schema:Person
84 sg:person.013611426734.26 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
85 schema:familyName Kim
86 schema:givenName Jongwon
87 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013611426734.26
88 rdf:type schema:Person
89 sg:person.013626271632.80 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
90 schema:familyName Kim
91 schema:givenName Jeongryul
92 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013626271632.80
93 rdf:type schema:Person
94 sg:person.014247263617.74 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
95 schema:familyName Cho
96 schema:givenName Kyu-Jin
97 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014247263617.74
98 rdf:type schema:Person
99 sg:person.014371626021.07 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
100 schema:familyName Choi
101 schema:givenName Dongkyu
102 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014371626021.07
103 rdf:type schema:Person
104 sg:pub.10.1007/s12206-009-1108-7 schema:sameAs https://app.dimensions.ai/details/publication/pub.1043890490
105 https://doi.org/10.1007/s12206-009-1108-7
106 rdf:type schema:CreativeWork
107 sg:pub.10.1007/s12206-010-0326-3 schema:sameAs https://app.dimensions.ai/details/publication/pub.1038031367
108 https://doi.org/10.1007/s12206-010-0326-3
109 rdf:type schema:CreativeWork
110 https://doi.org/10.1016/j.jsv.2005.03.011 schema:sameAs https://app.dimensions.ai/details/publication/pub.1029813507
111 rdf:type schema:CreativeWork
112 https://doi.org/10.1016/j.robot.2004.08.010 schema:sameAs https://app.dimensions.ai/details/publication/pub.1008386848
113 rdf:type schema:CreativeWork
114 https://doi.org/10.1016/j.robot.2010.01.007 schema:sameAs https://app.dimensions.ai/details/publication/pub.1011450728
115 rdf:type schema:CreativeWork
116 https://doi.org/10.1109/icsmc.1993.384792 schema:sameAs https://app.dimensions.ai/details/publication/pub.1086265806
117 rdf:type schema:CreativeWork
118 https://doi.org/10.1109/jra.1986.1087044 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061308618
119 rdf:type schema:CreativeWork
120 https://doi.org/10.1109/tac.2009.2024565 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061477248
121 rdf:type schema:CreativeWork
122 https://doi.org/10.1177/0278364904045594 schema:sameAs https://app.dimensions.ai/details/publication/pub.1037212966
123 rdf:type schema:CreativeWork
124 https://doi.org/10.1177/0278364906069150 schema:sameAs https://app.dimensions.ai/details/publication/pub.1041332213
125 rdf:type schema:CreativeWork
126 https://www.grid.ac/institutes/grid.31501.36 schema:alternateName Seoul National University
127 schema:name School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea
128 rdf:type schema:Organization
129 https://www.grid.ac/institutes/grid.413028.c schema:alternateName Yeungnam University
130 schema:name School of Mechanical Engineering, Yeungnam University, Gyeongsan, Korea
131 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...