A composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy

Kim, Tae-Ju; Park, Sangdeok

doi:10.1109/icma.2011.5985681

Cited by 6 publications

(3 citation statements)

References 7 publications

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“…MIT Cheetah shows a broad range of leg movement and more focus on versatility [ 10 , 11 ], and MIT Mini Cheetah is capable of acrobatic motions, such as a back-flip, in addition to all the capabilities of its predecessor [ 12 , 13 ]. Additionally, the Korea Institute of Industrial Technology developed a quadruped robot actuated by hydraulic actuators, which is able to walk at about 3.4 miles per hour with a 60 kg load [ 14 ].…”

Section: Introductionmentioning

confidence: 99%

Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Choi

2021

Sensors

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Quadruped robots are receiving great attention as a new means of transportation for various purposes, such as military, welfare, and rehabilitation systems. The use of four legs enables a robustly stable gait; compared to the humanoid robots, the quadruped robots are particularly advantageous in improving the locomotion speed, the maximum payload, and the robustness toward disturbances. However, the more demanding conditions robots are exposed to, the more challenging the trajectory generation of robotic legs becomes. Although various trajectory generation methods (e.x., central pattern generator, finite states machine) have been developed for this purpose, these methods have limited degrees of freedom with respect to the gait transition. The conventional methods do not consider the transition of the gait phase (i.e., walk, amble, trot, canter, and gallop) or use a pre-determined fixed gait phase. Additionally, some research teams have developed locomotion algorithms that take into account the transition of the gait phase. Still, the transition of the gait phase is limited (mostly from walking to trot), and the transition according to gait speed is not considered. In this paper, a multi-phase joint-angle trajectory generation algorithm is proposed for the quadruped robot. The joint-angles of an animal are expressed as a cyclic basis function, and an input to the basis function is manipulated to realize the joint-angle trajectories in multiple gait phases as desired. To control the desired input of a cyclic basis function, a synchronization function is formulated, by which the motions of legs are designed to have proper ground contact sequences with each other. In the gait of animals, each gait phase is optimal for a certain speed, and thus transition of the gait phases is necessary for effective increase or decrease in the locomotion speed. The classification of the gait phases, however, is discrete, and thus the resultant joint-angle trajectories may be discontinuous due to the transition. For the smooth and continuous transition of gait phases, fuzzy logic is utilized in the proposed algorithm. The proposed methods are verified by simulation studies.

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Section: Introductionmentioning

confidence: 99%

Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Choi

2021

Sensors

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“…1) is a hydraulically operated quadruped robot that is powered by an engine. Jinpoong was developed for military transportation applications [12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Simple Walking Strategies for Hydraulically Driven Quadruped Robot over Uneven Terrain

Cho¹,

Kim²,

Kim³

et al. 2016

Journal of Electrical Engineering and Technology

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-Jinpoong is a quadruped walking robot developed by the Korea Institute of Industrial Technology. Jinpoong was developed for use in surveillance, reconnaissance, transportation, and guidance tasks in atypical environments such as those encountered after a disaster. To perform these tasks successfully, the robot must be able to walk stably over uneven terrain. The aim of this study was to develop a method for absorbing the impacts experienced by the robot while walking and a method for resisting external forces applied to the side (sagittal plane) of the robot so that it can walk stably. We demonstrate the efficacy of the methods developed through experiments.

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“…The weight acts as a load on the legs, and heavier load requires more flow, therefore a larger power source is necessary. [2] Pressure and flow rate is very important in hydraulic power-pack. For a hydraulic actuator to ensure constant motion, hydraulic power-pack must maintain constant pressure and discharge rate, for which the hydraulic pump engine must rotate at a constant speed.…”

Section: Introductionmentioning

confidence: 99%

Development of engine speed control system for power supply of the robot

Park

Cho²,

Lee³

et al. 2013

Ieee Isr 2013

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JINPOONG, a walking robot using hydraulic pressure, requires a power source to operate the power pack. Therefore, power was supplied to JINPOONG by using an engine that has high power per unit engine weight.Hydraulic pump requires a constant rotating speed in order to supply stable hydraulic pressure because the pressure and flow rate changes according to rotating speed.This study proposes a way to maintain relatively stable rotating speed of engine with irregular and fluctuating load.

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A composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy

Cited by 6 publications

References 7 publications

Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Simple Walking Strategies for Hydraulically Driven Quadruped Robot over Uneven Terrain

Development of engine speed control system for power supply of the robot

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