M.M. Bizin
Saint-Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, Junior Research Scientist, 39, 14 line V.O., Saint-Petersburg, 199178, Russia, tel.: +7(812)328-70-81, maxim.bizin@strategic-it.ru
A.V. Denisov
SPIIRAS, Postgraduate Student, 39, 14 line V.O., Saint-Petersburg, 199178, Russia, tel.: +7(812)328-70-81, sdenisov93@mail.ru
A.A. Kodyakov
SPIIRAS, Programmer, 39, 14 line V.O., Saint-Petersburg, 199178, Russia, tel.: +7(812)328-70-81, extreme-kodyakov@mail.ru
N.A. Pavlyuk
SPIIRAS, Postgraduate Student, 39, 14 line V.O., Saint-Petersburg, 199178, Russia, tel.: +7(812)328-70-81, antei.hasgard@gmail.com
L.A. Stankevich
PhD in Technical Sciences, Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Associate Professor, Professor of System Analysis and Control Faculty, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(812)297-42-14, Stankevich_lev@inbox.ru
Abstract
The task of constructional solutions for anthropomorphic robot's legs is considered. An overview of the existing anthropomorphic robots and an analysis of servomechanisms and bearing parts involved in the assembly of robot's legs are presented. We propose an option for constructing the legs of the robot Antares under development. A two-motor layout, used in the knee, ensures higher joint power along with independent interaction with the neighboring upper and lower leg joints when bending. The two-segment construction of robot foot is also applied, allowing implementing of a «falling» gait.
The research is partly supported by the Russian Foundation for Basic Research (grant no.16-29-04101-ofi_m) and by Russian Science Foundation (grant no.16-19-00044) within the frame of state-financed topic no.0073-2015-0005.
Key words
Аnthropomorphic robot; servomechanism; kinematic scheme; robot Antares; two-motor knee; pelvic mechanism.
Year 2016 Issue number 4 Consecutive issue number 13 Pages 71-78
UDC identifier: 621:007.52
