A Multi-module Controller for Walking Quadruped Robots

Wang, Boxing; Wan, Ziwei; Zhou, Chunlin; Wu, Jun; Qiu, Yanfeng; Gao, Zhijun

doi:10.1007/s42235-019-0021-8

Cited by 8 publications

(5 citation statements)

References 24 publications

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“…Movement methods are mainly divided into crawler, multileg, and wheel types (Tâche et al, 2009;Z. Wang et al, 2017;B. Wang et al, 2019).…”

Section: Robot's Designmentioning

confidence: 99%

“…The mechanical structure of the wall‐climbing robot is mainly designed from three aspects: the moving method, the adsorption method, and the driving method. Movement methods are mainly divided into crawler, multileg, and wheel types (Tâche et al, 2009; Z. Wang et al, 2017; B. Wang et al, 2019). Special‐shaped wheels ensure that the robot does not deviate from the pipeline during the up‐and‐down movement.…”

Section: Robot's Designmentioning

confidence: 99%

See 1 more Smart Citation

Design and analysis of a wall‐climbing robot for water wall inspection of thermal power plants

Jiang

Chen

et al. 2023

Journal of Field Robotics

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Boiler water wall in thermal power plants is characterized by high‐altitude detection requirements. Moreover, the existing water wall‐climbing robots are characterized by low obstacle‐crossing performance, deviations, and a lack of autonomous crossing pipeline function. In view of this feature, a wall‐climbing robot with permanent magnet and electromagnetic hybrid adsorption wheels is proposed. The robot has the function of independent traverse according to its own structural characteristics. Furthermore, transverse movement is proposed by comparing different adsorption modes, moving and driving modes. Robot statics in upward, downward, and transverse crawling are carried out, and nonsliding mechanical and nonoverturning mechanical models are obtained. Robot's dynamics are analyzed by considering the wall movement. The finite element simulation analysis of its main stressed parts is carried out by employing ANSYS, and an optimal structural model is obtained. The gap adsorption permanent magnet model is constructed, and its parametric simulation analysis is carried out using the Ansoft Maxwell module. The influence curve of the gap on the magnetic force is then obtained. Finally, the prototype is developed according to the design model and calculation analysis, and the experimental test is carried out. The experimental results show that the robot meets the expected functions and indexes, providing a basis for the intelligent development of thermal power plants.

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“…Movement methods are mainly divided into crawler, multileg, and wheel types (Tâche et al, 2009;Z. Wang et al, 2017;B. Wang et al, 2019).…”

Section: Robot's Designmentioning

confidence: 99%

Section: Robot's Designmentioning

confidence: 99%

Design and analysis of a wall‐climbing robot for water wall inspection of thermal power plants

Jiang

Chen

et al. 2023

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…These three types of motions are added to derive the final foot-end positions. We choose this parallel motion generation structure because it is easy to deploy for online multitask switching while keeping the robot balanced [25,26]. Figure 6 illustrates the general structure of the proposed controller.…”

Section: Controller Structurementioning

confidence: 99%

Untethered quadrupedal hopping and bounding on a trampoline

et al. 2019

Self Cite

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For quadruped robots with springy legs, a successful jump usually requires both suitable elastic parts and well-designed control algorithms. However, these two problems are mutually restricted and hard to solve at the same time. In this study, we attempt to solve the problem of controller design with the help of a robot without any elastic mounted parts, in which the untethered robot is made to jump on a trampoline. The differences between jumping on hard surfaces with springy legs and jumping on springy surfaces with rigid legs are briefly discussed. An intuitive control law is proposed to balance foot contact forces; in this manner, excessive pitch oscillation during hopping or bounding can be avoided. Hopping height is controlled by tuning the time delay of the leg stretch. Together with other motion generators based on kinematic law, the robot can perform translational and rotational movements while hopping or bounding on the trampoline. Experiments are conducted to validate the effectiveness of the proposed control framework.

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“…Zhang [8] combined the CPG and the fuzzy control strategy on a quadruped model, but only showed the effectiveness on the flat terrain. Wang [9] constructed a parallel multi-module controller based on CPG and realized the basic walking motions of the robot named PMQ. Wang [10] combined the CPG and workspace trajectory generator to achieve robot locomotion on flat terrain with multi-gait, but the parameters needed to be tuned manually for different gaits.…”

Section: Introductionmentioning

confidence: 99%

A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains

Ding

Zhou

et al. 2020

IEEE Access

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Quadruped robots have excellent application prospects whereas the locomotion control of them on rough terrains is still a challenging problem, especially for those of large scales. The existing methods are either too complicated or lack of accuracies due to assumptions used. This paper presents a novel control algorithm for quadruped robots running on rough terrains inspired by the virtual model control and the model predictive control. State recursions are carried out based on the dynamic model of the trunk during the standing phase. The modeling of the body is implemented in the self-defined motion reference frame that avoids global state estimations and accumulative errors. The force distribution of the standing legs is realized by quadratic optimization involving state predictions. Forces of the swing legs are calculated by the virtual spring-damping model that follow the desired trajectory which is robust to external disturbances. These two sub-controllers are combined by the time-force based state machine. Simulation results show that the quadruped robot obtains the adaptability to rough terrains and robustness to lateral pushes with the proposed method.

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A Multi-module Controller for Walking Quadruped Robots

Cited by 8 publications

References 24 publications

Design and analysis of a wall‐climbing robot for water wall inspection of thermal power plants

Design and analysis of a wall‐climbing robot for water wall inspection of thermal power plants

Untethered quadrupedal hopping and bounding on a trampoline

A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains

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