Parameter Optimization of a Stability-Training Platform’s 4-PSS/PS Parallel Mechanism Based on Training Ability Evaluation Index and PSO Algorithm

Chinese Journal of Mechanical Engineering

Table 1 Parameters and the critical overturning angle of the 5 legged robots

Robot name	DOF number n_DOF	Mass m_r (kg)	Height h_r (mm)	Standing support surface size l_X × l_Y (mm × mm)	Max step length l_S (mm)	The COM height h (mm)	Critical overturning angle in the sagittal plane θ_S (°)	Critical overturning angle in the lateral plane θ_L (°)
HRP-2P [34]	30	54.1	1600	185 × 320*	400	960	5.5	9.5
ASIMO [35]	34	43	1200	220 × 320*	370	720	8.7	12.5
GoRoBoT-III	70	90	1580	200 × 250	380	950	6.0	7.5
TITAN-XIII [36]	12	5.2	300	420 × 420	200	450	25.0	25.0
BigDog [37]	20	109	1000	1100 × 300	300	1500	20	5.7

1. The COM (center of mass) height h of the biped robot is assumed to be 60% of the robot height. Because the quadruped robots are usually loaded weights on their torsos, h of the quadruped robot is assumed to be 150% of the robot height
2. The standing support surface size l_X × l_Y is measured from the minimum circumscribed rectangle of the robot’s support polygon when the robot is in its standing posture
3. Parameters marked by ‘*’ is estimated in proportion of the robot height by the opened image or video data of the robot
4. The max step length l_S of the robot is estimated in proportion of the robot leg length by the opened image or video data of the robot; l_S of the quadruped robot is estimated for the trot gait