Int. J. Mechanisms and Robotic Systems, Vol. 2, No.

1, 2014 51

Simulation results of operation of a new biped

mechanism

Marco Ceccarelli*
LARM: Laboratory of Robotics and Mechatronics,
University of Cassino and South Latium,
Via Di Biasio 43, 03043 Cassino (Fr), Italy
E-mail: ceccarelli@unicas.it
*Corresponding author

Tao Li
Institute of Advanced Manufacturing Technology,
Hefei Institutes of Physical Science,
Chinese Academy of Sciences,
Changwu Road 801, Changzhou, Jiangsu, China
E-mail: taoli@iamt.ac.cn

Abstract: A new biped mechanism with low-cost easy-operation features is

proposed with only seven degrees of freedom (DOF). The mechanism is
designed with motion capabilities for straight walking, changing direction,
overcoming obstacle, and climbing stairs. Dynamics properties of this biped
mechanism are analysed by means of simulations in MSC.ADAMS
environment. Simulation results are reported in terms of motion torque, joint
force, contact force, parts displacement, velocity and acceleration. They are
discussed to characterise dynamical motion performance and walking
feasibility.

Keywords: humanoid robots; biped mechanisms; dynamic simulation; walking

motion.

Reference to this paper should be made as follows: Ceccarelli, M. and Li, T.

(2014) ‘Simulation results of operation of a new biped mechanism’,
Int. J. Mechanisms and Robotic Systems, Vol. 2, No. 1, pp.51–66.

Biographical notes: Marco Ceccarelli is a Full Professor of Mechanics of

Machinery and Director of LARM, Laboratory of Robotics and Mechatronics
at the University of Cassino and South Latium. He is a member of Robotics
Commission of IFToMM, the International Federation for the Promotion of
Machine and Mechanism Science. He has written the books Fundamentals of
Mechanics of Robotic Manipulation in 2004 and Mechanisms in 2008.
His research interests are in mechanics of mechanisms and robots. He is
author/co-author of 500 papers, presented at conferences or published in
journals and he has edited 14 books for conference proceedings and specific
topics.

Tao Li received his PhD in 2013 from LARM, Laboratory of Robotics and
Mechatronics at the University of Cassino and South Latium. He received his
Masters degree in Precision Instrument and Machinery from University of
Science and Technology of China in June 2009. His research interests include

Copyright © 2014 Inderscience Enterprises Ltd.

52 M. Ceccarelli and T. Li

humanoid robots and service robots. Currently, he is with Institute of Advanced

Manufacturing Technology of Chinese Academy of Sciences in Changzhou
(Jiangsu), China working on research and development of service robots.

1 Introduction

Most of the existing humanoid robots are designed with conventional 12-DOF biped
mechanism, which consists of a 3-DOF hip, a 1-DOF knee and a 2-DOF ankle for each
leg, like for example ASIMO (Hirose et al., 2001), HRP-2 (Kaneko et al., 2004), HUBO
series (Oh et al., 2006), and BHR-2 (Tao et al., 2007). These leg designs show
anthropomorphic motion capability thanks to the use of a large number of high
performance motors, high capability controllers and multiple sensors. However, these
robots are not available for a wide variety of applications due to their high cost.
Since a decade at LARM, Laboratory of Robotics and Mechatronics in Cassino, a
research line is devoted to the design of low-cost easy-operation leg mechanisms. Two
1-DOF biped mechanisms, which have human-like walking gait, have been proposed and
built in a recent past (Liang et al., 2008; Li and Ceccarelli, 2011). Based on previous
works on biped leg mechanisms at LARM, this paper presents a new biped mechanism,
which has been designed with low-cost easy-operation features. The new biped
mechanism can perform the same basic functions as conventional biped robots, such as
changing direction, overcoming obstacle, and climbing stairs. In particular, dynamic
analysis of straight walking and changing direction are carried out via simulations in
ADAMS and simulation results are reported and used to characterise the robot operation
and motion performance of the biped mechanism.

2 Design specifications and simulation model

The new designed LARM biped mechanism has seven DOFs. Three DOFs are used in
each leg and one DOF is devoted for changing direction. The left and right legs are
symmetric. In each leg, one motor is used for driving the leg mechanism, one for pushing
down or pulling up the lower part of the shank, and one for driving the wheel installed on
the upper part of the shank. Body length, width and height of the biped mechanism are
220 mm, 360 mm and 960 mm, respectively. Step length and width are 360 mm and 250
mm, respectively. These parameters are designed as referring to the dimensions of normal
human adults by taking into account that the biped mechanism can be used for humanoid
robots.
A simulation model has been made in such a way that if there are no relative motions
between a set of parts, this set of parts is considers as a single part. However, shapes and
mass distribution are modelled as in the proposed mechanical design. A numerical model
is imported into ADAMS and material properties specified for each part. Then kinematic
joints are identified in terms of revolute joints, spherical joints, cylindrical joints,
translational joints with proper motion ranges and with any redundant constraint. In
addition, ground contacts with left and right feet, left and right wheels of the chariot are
properly modeled with proper friction parameters also in kinematic joints. A simulation
 Simulation results of operation of a new biped mechanism 53

model is obtained as in Figure 1. with symmetric features as from the mechanical design
of the biped mechanism.

Figure 1 A simulation model of the biped mechanism in ADAMS (see online version
for colours)

3 Dynamic simulations of walking modes

Straight walking is one of the basic walking modes. When working in this mode, only the
two motors of the legs rotate. The other five motors do not work or work in self-lock
configuration. The shanks are fixed at maximal length. Figure 2 shows snapshots of the
simulation process. In the simulation, input angular velocity of the motion is set up to
180°/s. When the motor rotates 180°, the biped mechanism moves one step forward.
Since the step length is 360 mm, the walking speed of the biped mechanism is of 360
mm/s.
Figure 3 shows resulting torque for the input motions of the left and right legs that
perform two steps during 4 seconds. Computed plots show periodic feature and the period
of the walking cycle (two steps) is 2 seconds with symmetric behaviours for the legs.
Maximum values of the torque of the two legs’ input motions are computed as
approximately 8.6 Nm. The torque is computed about z axis as parallel to the axis of the
motor shaft. In addition, plots show are smooth motions for actuators that can work at
practical feasible running with no critical conditions.
Figure 4 shows the left foot-ground contact (LFC) force periodic and symmetric
features during walking. Plots show that the forces along y-axis, which is the vertical
54 M. Ceccarelli and T. Li

direction, have the biggest values. Maximum value of the left foot-ground contact force
along y-axis is about 189 N. Since the mass of the biped mechanism is 18 kg, the values
can be considered reasonable. Similar are the plots of the other contact forces. There are
some periods during which the contact forces are zero, which indicate that the legs are in
swinging phase in the air during. Plots of the right foot-ground contact force, and wheel-
ground contact forces show similar features and thus are omitted. Similarly only the
results of one leg are shown and analysed in the analysis in terms of joint force,
displacement, velocity and acceleration.

Figure 2 Snapshots of simulation process of the straight walking (see online version for colours)

Figure 3 Torque of the left leg motor (LLM) and right leg motor (RLM) as computed during the
simulation in Figure 2 (see online version for colours)
 Simulation results of operation of a new biped mechanism 55

Figure 5 to Figure 8 show the x, y and z components of the reaction forces at left
Chebyshev crank joint (LCCJ), left Chebyshev output joint (LCOJ), left knee joint (LKJ),
and chariot connecting joint (CCJ), respectively. They are the key joints for the
functioning of the biped mechanism.

Figure 4 X, y and z components of the LFC force as computed during the simulation in Figure 2
(see online version for colours)

Figure 5 X, y and z components of the reaction force at the LCCJ as computed during the
simulation in Figure 2 (see online version for colours)
56 M. Ceccarelli and T. Li

Figure 6 X, y and z components of the reaction force at the LCOJ as computed during the
simulation in Figure 2 (see online version for colours)

Figure 7 X, y and z components of the reaction force at the LKJ as computed during the
simulation in Figure 2 (see online version for colours)

Simulation results show that the motion of leg body along walking direction is nearly a
straight line, with an approximated uniform motion. In addition, the leg body shows
minor motion in vertical direction. These aspects indicate that when the biped mechanism
will be used in humanoid robots, the upper body of the robot will have a very smooth
motion.
Figure 9 shows the centre of mass (CM) position of the left and right feet along the
walking direction during the simulation in Figure 2. Plots of the feet displacements are
indicated as step-shaped lines with horizontal segments representing the supporting
phases and inclined parts representing swing phases. Time intervals t1, t2 and t3 indicate
double supporting phase, swing phase of the right leg, and swing phase of the left leg,
respectively. With a speed of about 360 mm/s, supporting phase is about 1.2 s, whereas
swing phase lasts about 0.8 s. Swing and supporting phases appear alternatively likewise
in human locomotion.
 Simulation results of operation of a new biped mechanism 57

Figure 8 X, y and z components of the reaction force at the CCJ as computed during the
simulation in Figure 2 (see online version for colours)

Figure 9 CM position of the left and right feet along the walking direction (x-axis) during the
simulation in Figure 2 (see online version for colours)

Figure 10 to Figure 13 show computed velocity and acceleration of the body and foot
along x-axis (walking direction), y-axis (vertical direction), and z-axis (lateral direction),
respectively. In particular, in Figure 10 velocity of the leg body along y and z axes is very
small with a minor motion in these two directions. Furthermore, referring to these plots,
body show minimal velocity and acceleration values, whereas foot has the maximal
velocity and acceleration. All these values can be considered in proper ranges for a
practical functioning since they indicate the biped mechanism with a fairly good motion
performance and with walking characteristics similar to as human locomotion.
58 M. Ceccarelli and T. Li

Figure 10 Computed x, y and z components of velocity of the body CM during the simulation in
Figure 2 (see online version for colours)

Figure 11 Computed x, y and z components of velocity of the left foot during the simulation in
Figure 2 (see online version for colours)

The second reported simulation refers to an operation for changing direction. Two main
reasons can ask a robot to change direction, namely, when during a specified task, the
path between a start location and its destination is not straight; second, when there are
obstacles lying in front of the robot, which are not possible to overcome. Therefore,
changing direction can be considered another basic walking mode. When working in this
mode, motors for driving two legs and for changing direction are active and they rotate.
The other four motors do not work or work in self-lock configuration. The shanks are
fixed at maximal length.
Operation principle for change direction mode is described in Li (2013). In this
simulation, the biped mechanism is asked to change direction with the aim to avoid an
obstacle lying in front of it. After avoiding the obstacle successfully, the biped
 Simulation results of operation of a new biped mechanism 59

mechanism turns back to its original direction. Namely, the biped mechanism needs to
turn right first and then turn left, as illustrated in Figure 14.

Figure 12 Computed x, y and z components of acceleration of the body CM during the simulation
in Figure 2 (see online version for colours)

Figure 13 Computed x, y and z components of acceleration of the left foot during the simulation
in Figure 2 (see online version for colours)

Figure 14 A simulation scene of changing direction with the aim to avoid an obstacle (top view)
(see online version for colours)
60 M. Ceccarelli and T. Li

Figure 15 Planed motion for MCD in changing direction in Figure 14 (see online version
for colours)

Figure 16 Snapshots of computed simulation for changing direction for the case in Figure 14
(see online version for colours)

Figure 15 shows the used motion of the motor for changing direction (MCD). In
particular, the left leg moves 1 step forward, and the right leg moves 1 step forward and
turns right for 6.25° simultaneously. Then the left leg moves 1 step forward and turns
right for 6.25° simultaneously. The two legs repeat the second and third steps, and after
then, the right leg moves 1 step forward and meanwhile turns to left for 12.5°, and
finally, the left leg moves 1 step forward and turns to left for 12.5° in order to turn back
to its original direction. It is worth to note that the operation of changing direction takes
place during the swing phases of the legs. During double supporting phase, the motor for
changing direction works at self-lock situation and has no rotation. In the Figure15, t1 to
 Simulation results of operation of a new biped mechanism 61

t4 indicate time intervals for double supporting phases, during which the motor does not
rotate. Figure 16 shows the snapshots of the process. In the simulation, angular velocity
of the motion is set up to 45°/s. Simulation time is 48 seconds during which each foot
moves 6 steps.
Figure 17 shows computed torque of the input motions of the legs, and the motor for
changing direction. The first two are computed about z-axis, and the third one is
computed about y-axis. Maximal values of the leg input torque is approximately of 7 Nm;
maximal value of the motion torque for changing direction is about 11 Nm.

Figure 17 Computed torque of the LLM, RLM and MCD (see online version for colours)

Simulation result of ground contact force of left foot is bigger than that one computed in
straight walking. This is because during changing direction, friction force needs to
increase in order to prevent the foot sliding. Values of the wheel-ground contact force are
similar as in straight walking simulation.

Figure 18 X, y and z components of the force of the LCCJ as computed during the simulation in
Figure 16 (see online version for colours)

Figure 18 and Figure 21 show the x, y and z components of reaction forces at LCCJ,
LCOJ, LKJ, and CCJ, respectively. Maximum values of these forces can be considered in
62 M. Ceccarelli and T. Li

feasible regions for a practical functioning when the parts are designed with proper sizes
and materials. Figures 22 to 23 show the computed joint forces of the four gears
assembled in the mechanism for changing direction. In particular, Figure 23 shows the
force of the motor-gear connecting joint (MGCJ). Figure 24 and Figure 25 show the
forces of the left and right leg-gear connecting joint (LGCJ), respectively. Maximum
values of about 600 Ncan be suitable for commercial gears made in copper. Figure 25 and
Figure 26 show computed velocity and acceleration along walking direction, vertical
direction, and lateral direction of the left foot, respectively. In particular, in Figure 25,
velocity of the left foot along y and z axes is very small.
Similarly, all computed values are in proper ranges and indicate the biped mechanism
has a fairly good motion performance during the operation of changing direction with
characteristics similar to human walking. Feet show the largest velocity and acceleration,
and simulation results of the other parts can be omitted.

Figure 19 X, y and z components of the force of the LCOJ as computed during the simulation in
figure 16 (see online version for colours)

Figure 20 X, y and z components of the force of the LKJ as computed during the simulation in
Figure 16 (see online version for colours)
 Simulation results of operation of a new biped mechanism 63

Figure 21 X, y and z components of the force of the CCJ computed as during the simulation in
Figure 16 (see online version for colours)

Figure 22 X, y and z components of the joint force of the MGCJ as computed during the
simulation in Figure 16 (see online version for colours)

Figure 23 X, y and z components of the joint force of the left LGCJ as computed during the
simulation in Figure 16 (see online version for colours)
64 M. Ceccarelli and T. Li

Figure 24 X, y and z components of the joint force of the right LGCJ as computed during the
simulation in Figure 16 (see online version for colours)

Figure 25 Computed x, y and z components of velocity of the left foot during the simulation in
Figure 16 (see online version for colours)

Figure 26 Computed x, y and z components of acceleration of the left foot during the simulation
in Figure 16 (see online version for colours)
 Simulation results of operation of a new biped mechanism 65

Computed maximum values are summarised in Table 1. Simulation results show suitable
values and behaviours for the operation of the biped mechanism with actuators and
structure that can be designed and built with marked components for a low-cost
easy-operation design.
Table 1 Maximum values of the motors and key joints

Motors and joints Mode 1 Mode 2

MCD: motor for changing direction - 7 Nm
RLM: right leg driving motor 8.8 Nm 9 Nm
LLM: left leg driving motor 8.8 Nm 11 Nm
LWC: left wheel-ground contact force 140 N 135 N
RWC: right wheel-ground contact force 140 N 130 N
LFC: left foot-ground contact force 190 N 185 N
RFC: right foot-ground contact force 190 N 192 N
MGCJ: motor-gear connecting joint - 700 N
LCCJ: left Chebyshev crank joint 210 N 470 N
LCOJ: left Chebyshev output joint 350 N 345 N
LKJ: left knee joint 200 N 350 N
CCJ: chariot connecting joint 39 N 35 N

4 Conclusions

A new LARM 7-DOF biped mechanism is designed with low-cost easy-operation

features. Dynamics of basic walking modes is analysed in terms of straight walking and
changing direction by means of simulation in ADAMS. Results in terms of torque, joint
force, contact force, displacement, velocity and acceleration are used to characterise a
feasible operation of the biped mechanism. Computed results show that the biped
mechanism has good motion capability not only in straight walking but also in changing
direction with features similar to human locomotion.

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