Research Papers

New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments

[+] Author and Article Information
Samer Alfayad

LISV Laboratory, University of Versailles Saint Quentin, 10-12 Avenue de l’Europe, 78140 Vélizy, Francesamer.alfayad@lisv.uvsq.fr

Fethi B. Ouezdou1

LISV Laboratory, University of Versailles Saint Quentin, 10-12 Avenue de l’Europe, 78140 Vélizy, Franceouezdou@lisv.uvsq.fr

Faycal Namoun

 BIA, ZA Les Boutriers, 8 rue de l’Hautil, 78000 Conflans fin d’Oise, Francef.namoun@bia.fr

The term IGM is chosen since this relationship deals with only the geometrical aspects (this corresponds to inverse kinematics commonly used in robotics). To distinguish the kinematical aspects related to velocity, KM term is also introduced.

This will induce a passive DOF (along the two spherical joints) reflecting the cable’s torsion.


Corresponding author.

J. Mech. Des 133(2), 021005 (Jan 25, 2011) (13 pages) doi:10.1115/1.4003250 History: Received July 18, 2010; Revised December 02, 2010; Published January 25, 2011; Online January 25, 2011

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid robotics application. Since the designing and control of humanoid robots are still open questions, we propose the use of a new class of mechanisms in order to face several challenges that are mainly the compactness and the high power to mass ratio. Human ankle and wrist joints can be considered more compact with the highest power capacity and the lowest weight. The very important role played by these joints during locomotion or manipulation tasks makes their design and control essential to achieve a robust full size humanoid robot. The analysis of all existing humanoid robots shows that classical solutions (serial or parallel) leading to bulky and heavy structures are usually used. To face these drawbacks and get a slender humanoid robot, a novel three degrees of freedom hybrid mechanism achieved with serial and parallel substructures with a minimal number of moving parts is proposed. This hybrid mechanism that is able to achieve pitch, yaw, and roll movements can be actuated either hydraulically or electrically. For the parallel submechanism, the power transmission is achieved, thanks to cables, which allow the alignment of actuators along the shin or the forearm main axes. Hence, the proposed solution fulfills the requirements induced by both geometrical, power transmission, and biomechanics (range of motion) constraints. All stages including kinematic modeling, mechanical design, and experimentation using the HYDROïD humanoid robot’s ankle mechanism are given in order to demonstrate the novelty and the efficiency of the proposed solution.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

Adopted primitives for the leg and forearm limbs of the HYDROïD robot

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Figure 2

Simplified sketch of the hybrid solution

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Figure 3

Detailed kinematic structure of the hybrid solution

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Figure 4

Hybrid mechanism virtual model built under ADAMS software

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Figure 5

Control closed loop of the hybrid mechanism virtual model

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Figure 6

Angular positions, velocities, and accelerations for wrist and ankle models

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Figure 7

Nominal pressure optimization for the wrist joints while handling an object of 5 kg

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Figure 8

Nominal pressure optimization for ankle joint while achieving locomotion task

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Figure 9

Forces magnitude applied on the cable at points O1j,  j=1,2,3,4

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Figure 10

Angular amplitude of the connection between the cable and the piston at point O13

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Figure 11

Wrist and ankle computer-aided design (CAD) prototypes

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Figure 12

Realized prototype of the hybrid ankle mechanism mounted on the HYDROïD robot’s leg

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Figure 13

Preliminary experiments with the ankle joint hybrid mechanism




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