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Robot 2015: Second Iberian Robotics Conference pp 157–169Cite as

Monte-Carlo Workspace Calculation of a Serial-Parallel Biped Robot

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 418))

Abstract

This paper presents the Monte-Carlo calculation of the work-space of a biped redundant robot for climbing 3D structures. The robot has a hybrid serial-parallel architecture since each leg is composed of two parallel mechanisms connected in series. First, the workspace of the parallel mechanisms is characterized. Then, a Monte-Carlo algorithm is applied to compute the reachable workspace of the biped robot solving only the forward kinematics. This algorithm is modified to compute also the constant-orientation workspace. The algorithms have been implemented in a simulator that can be used to study the variation of the workspace when the geometric parameters of the robot are modified. The simulator is useful for designing the robot, as the examples show.

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Author information

Authors and Affiliations

  1. Systems Engineering and Automation Department, Universidad Miguel Hernández, Elche, Spain

    Adrián Peidró, Arturo Gil, José María Marín, Yerai Berenguer, Luis Payá & Oscar Reinoso

Authors
  1. Adrián Peidró
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  2. Arturo Gil
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  3. José María Marín
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  4. Yerai Berenguer
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  5. Luis Payá
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  6. Oscar Reinoso
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Corresponding author

Correspondence to Adrián Peidró .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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© 2016 Springer International Publishing Switzerland

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Cite this paper

Peidró, A., Gil, A., Marín, J.M., Berenguer, Y., Payá, L., Reinoso, O. (2016). Monte-Carlo Workspace Calculation of a Serial-Parallel Biped Robot. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_13

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  • DOI: https://doi.org/10.1007/978-3-319-27149-1_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27148-4

  • Online ISBN: 978-3-319-27149-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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