Biped 4-UPU parallel mechanism

Zhihuai Miao, Yan'An Yao, Xianwen Kong, Bing Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution


A novel biped robot based on a 4-UPU (universalprismatic- universal) parallel mechanism with actuation redundancy is presented. The biped robot consists of two platforms and four UPU serial chains as limbs. The actuation method of the mechanism is determined based on the mobility and singularity analysis. The singular positions of the mechanism are identified and then eliminated using a redundant actuator. To meet different requirements, the multiple motion modes of the robot are discussed and simulated in the gait analysis. Moreover, the robot has special gaits for reset and self-rescue if overturned. Kinematic analysis of the mechanism and walking stability analysis are carried out in detail. Physical prototype experiments indicate that the proposed biped robot is feasible. Through properly planning the motion modes, the biped robot can quickly pass through rugged terrain containing slopes and obstacles.

Original languageEnglish
Title of host publicationASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791858189
Publication statusPublished - 2017
Event41st Mechanisms and Robotics Conference 2017 - Cleveland, United States
Duration: 6 Aug 20179 Aug 2017


Conference41st Mechanisms and Robotics Conference 2017
Country/TerritoryUnited States


  • Biped robot
  • Gaits
  • Operation modes
  • Parallel mechanism
  • Screw theory

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation


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