TY - GEN
T1 - Model based development of a 3D printed biped robot
AU - Kim, Won Young
AU - Pochiraju, Kishore
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - As 3D printing technology becomes more ubiquitous and pervasive, printed robot structures are likely to become popular. However, these 3D printed structures have inherent flexibility which causes link deflections and vibrations that lead to difficulties in maintaining gait and produce instabilities during motion. In this paper a biped robot, realized with 3D printing techniques, was modeled and its gait was simulated under position control. Spring and damper elements are used within powered joints to model the link flexibility. Servos were placed at the joints and an open-loop gait trajectory was executed by posing the robot through a series of servo angles. The gait of the printed robot was designed using the model. The printed robot's stability and accelerations during the motion were characterized with 3-axis accelerometers and gyroscopes mounted on the robot. The acceleration measurements from the printed robot are then compared with the model behavior.
AB - As 3D printing technology becomes more ubiquitous and pervasive, printed robot structures are likely to become popular. However, these 3D printed structures have inherent flexibility which causes link deflections and vibrations that lead to difficulties in maintaining gait and produce instabilities during motion. In this paper a biped robot, realized with 3D printing techniques, was modeled and its gait was simulated under position control. Spring and damper elements are used within powered joints to model the link flexibility. Servos were placed at the joints and an open-loop gait trajectory was executed by posing the robot through a series of servo angles. The gait of the printed robot was designed using the model. The printed robot's stability and accelerations during the motion were characterized with 3-axis accelerometers and gyroscopes mounted on the robot. The acceleration measurements from the printed robot are then compared with the model behavior.
UR - http://www.scopus.com/inward/record.url?scp=84926040201&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84926040201&partnerID=8YFLogxK
U2 - 10.1115/DETC201435415
DO - 10.1115/DETC201435415
M3 - Conference contribution
AN - SCOPUS:84926040201
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 38th Mechanisms and Robotics Conference
T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Y2 - 17 August 2014 through 20 August 2014
ER -