A Bioinspired Gait Transition Model for a Hexapod Robot

Chang, Qing; Mei, Fanghua

doi:10.1155/2018/2913636

Cited by 13 publications

(12 citation statements)

References 15 publications

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“…Because of this, even if the front legs of the ant are injured, the ant still can show a high-speed stable locomotion. Usually, neurons send controlled signals with the same frequency and amplitude to motor neurons, which makes electroactive and magnetically active polymers highly interesting for a legged actuator design. Wang et al designed ant-inspired millirobots of an ionic polymer–metal composite that was controlled by wireless electrical energy via a wireless magnetic induction .…”

Section: Mechanisms Of Shape Transformation and Locomotionmentioning

confidence: 99%

“…The locomotion of an ant is highly controlled by a three-layered article neuron network: a central neuron system, neuron network, and central pattern generators; this highly organized system allows a detailed control of the speed and movement. 494 Interestingly, it was discovered that the front legs are usually in the sliding phase and probing gait, whereas the middle legs are responsible and necessary for a normal stable gait. Because of this, even if the front legs of the ant are injured, the ant still can show a highspeed stable locomotion.…”

Section: Effect Of Structure On Time Of Actuationmentioning

confidence: 99%

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Materials for Smart Soft Actuator Systems

2021

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In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.

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Section: Mechanisms Of Shape Transformation and Locomotionmentioning

confidence: 99%

Section: Effect Of Structure On Time Of Actuationmentioning

confidence: 99%

Materials for Smart Soft Actuator Systems

2021

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“…The Preliminary architecture design is identified based on the requirement as well as the analysed design considerations. A refined model is obtained by synthesizing every part including the body and legs of the robot 20) . The design is made considering all the important factors like Mechanical structure of the body, leg structure, actuator and control mechanism, cost and operational features.…”

Section: Proposed Methodologymentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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In comparison with the majority of other animals, the spider can access all kinds of environments where other animals or even humans can't. These important attributes are taken into consideration, to design and develop a Hexapod Walking Robot, in order to perform various movements such as ascend and descend in all the directions. Hexapod Robots have always been a centre of attraction for several years. Many universities, research centres, and industries have carried out studies but in the past few years, systematic walking robots have been formulated, fabricated, and built with implementations that can be suitable for experimental demands. The paper presents a model to understand how, mathematically, a hexapod animal walk. The aim is to develop a suitable bio-mimetic model of hexapod walking robot that is lighter in weight with reduced number of motors and easily controllable. Modifications in the design is adopted by using solid works. Thereafter, a detailed analysis of the model is conducted along with the moment and force analysis. Moment analysis is carried out to check the walking capabilities of the legs at extreme joint positions. The robot leg motion is checked by applying loads at which the robot turns to fail and it has been found that the proposed model is suitable to bear different forces while walking to perform any desired task. This research also gives an outline of the design considerations of the Hexapod Walking Robot and a detailed design procedure is also discussed for the feasible and systematic design of a walking robot. In particular, these design procedures covers the main features such as mechanical structure and leg configuration, actuating and driving systems, motion controls, and walking gaits.

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“…All the walking dynamics phases share the same dynamics form as equation (7), while the component of each matrix may be different during different phases.…”

Section: Walking Dynamicsmentioning

confidence: 99%

“…e level of activity of these neurons is determined by one signal from the upper nervous system. Several models were designed to mathematically represent these generators [2][3][4], and their rhythmic outputs were used to control several biomimetic robots [5][6][7].…”

mentioning

confidence: 99%

Optimization of Central Pattern Generator-Based Torque-Stiffness-Controlled Dynamic Bipedal Walking

Suliman

Albitar

Hassan

2020

Journal of Robotics

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In this paper, we propose a central pattern generator-based model to control the walking motion of a biped robot. The model independently controls the joint torque and joint stiffness in real time. Instead of the phase-dependent neural model used by Huang in 2014, we adopt the same structure for all the walking phases, reducing the number of connections between neurons. This reduction enables the employment of the particle swarm algorithm to find the optimal values of these parameters which lead to different solutions with different performance criteria. The simulation of the proposed method on a seven-link bipedal walking model gave a good performance in the range of walking speeds, which is referred to as versatility, and in walking pattern transition. The achieved walking gaits are 1-period cyclic motions for all the input control signals except for few gaits. Besides, these 1-period cyclic motions have a good local and global stability. Finally, we expanded our neural model by adding connections that work only when the robot walks on uneven terrains, which improved the robot’s performance against this kind of perturbation.

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A Bioinspired Gait Transition Model for a Hexapod Robot

Cited by 13 publications

References 15 publications

Materials for Smart Soft Actuator Systems

Materials for Smart Soft Actuator Systems

Modelling and Analysis of Hexapod walking Robot

Optimization of Central Pattern Generator-Based Torque-Stiffness-Controlled Dynamic Bipedal Walking

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