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A modularized complex anthropomorphic robot (RPA) for rough terrain navigation with high stability is presented. The paper addresses the bipedal locomotion system of the anthropomorphic robot with an original and innovative mechatronic structure characterized by increasing the behavioral skills generated by the 14 degrees of freedom, ensuring symmetry and correlations with the anthropomorphic proportions, positions flexibility and mobility through joint suppleness, stability and effectiveness high in movement control, positions flexibility and mobility, easy maintenance. The simulation was performed on the VIPRO platform under conditions where the landing of the swing foot on the support surface is modelled as a firm elastic contact instantaneously and without heel kickback or slippage. The direct and inverse kinematic analysis results, respectively geometric and angular positions, obtained by simulation in the virtual environment, indicate mobility and functional stability of the locomotion structure for RPA during walking. RPA can adapt its behaviour to unforeseen and unexpected situations, intelligently moving its posture in order to perform tasks and eliminate possible disturbances generated by the environment.

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Modularized Complex Anthropomorphic Robot for Navigation on Uneven Terrain with High Stability

  • 会议论文

  • 发表日期：

    2025年

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  • Luige Vlădăreanu,
  • Marius Pandelea,
  • Hongbo Wang,
  • Yongfei Feng,
  • Yuansheng Ning,
  • Victor Vlădăreanu,
  • Shejie Guo,
  • Zhengcai Wang,
  • Ionel Pușcașu

摘要

A modularized complex anthropomorphic robot (RPA) for rough terrain navigation with high stability is presented. The paper addresses the bipedal locomotion system of the anthropomorphic robot with an original and innovative mechatronic structure characterized by increasing the behavioral skills generated by the 14 degrees of freedom, ensuring symmetry and correlations with the anthropomorphic proportions, positions flexibility and mobility through joint suppleness, stability and effectiveness high in movement control, positions flexibility and mobility, easy maintenance. The simulation was performed on the VIPRO platform under conditions where the landing of the swing foot on the support surface is modelled as a firm elastic contact instantaneously and without heel kickback or slippage. The direct and inverse kinematic analysis results, respectively geometric and angular positions, obtained by simulation in the virtual environment, indicate mobility and functional stability of the locomotion structure for RPA during walking. RPA can adapt its behaviour to unforeseen and unexpected situations, intelligently moving its posture in order to perform tasks and eliminate possible disturbances generated by the environment.