Kou-Iii: A Bipedal Robot with Quadrotor-Assisted Locomotion

27 Pages Posted: 14 Dec 2024

See all articles by Xianwu Zeng

Xianwu Zeng

Shandong University

Lishu Huang

affiliation not provided to SSRN

Guoteng Zhang

affiliation not provided to SSRN

Yibin Li

Shandong University

Abstract

We designed a bipedal robot with quadrotor-assisted locomotion. 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.

Keywords: Bipedal robot, Quadrotor-assisted, Motion performance

Suggested Citation

Zeng, Xianwu and Huang, Lishu and Zhang, Guoteng and Li, Yibin, Kou-Iii: A Bipedal Robot with Quadrotor-Assisted Locomotion. Available at SSRN: https://ssrn.com/abstract=5056354 or http://dx.doi.org/10.2139/ssrn.5056354

Xianwu Zeng

Shandong University ( email )

27 Shanda Nanlu
South Rd.
Jinan, SD 250100
China

Lishu Huang

affiliation not provided to SSRN ( email )

No Address Available

Guoteng Zhang (Contact Author)

affiliation not provided to SSRN ( email )

No Address Available

Yibin Li

Shandong University ( email )

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