A parallel actuated pantograph leg for high-speed locomotion

Guo, Wei; Cai, Changrong; Li, Mantian; Zha, Fusheng; Wang, Pengfei; Wang, Kenan

doi:10.1016/s1672-6529(16)60391-8

Cited by 19 publications

(9 citation statements)

References 24 publications

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“…So, we call this kind of legs as agile bionic leg mechanism (ABLM). The advantages of ABLM in high-speed running 9,10 and high-jumping [11][12][13][14] have been verified by many studies. Some representative research results are as follows: "Salto," "Cat-inspired robot," "MIT Cheetah," and "Planar Elliptical Runner (PER)."…”

Section: Introductionmentioning

confidence: 86%

Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism

2019

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SummaryAgile bionic leg mechanism (ABLM) has attracted more and more attention in the development of jumping robots and high-speed running robots. However, theoretical study of the global structure for motility characteristics and its evolution is few. By using the modern mathematical tools such as singular theory, geometric topology, and group theory, a global scale analysis method for kinematic performance of mechanisms is proposed. Taking 6-bar with two rings mechanism as an example, a detailed analysis process is studied. The 6-bar ABLM designed by this theory is verified by virtual prototype simulation experiment. The global scale analysis of 4-bar linkage is also carried out by using this method, and the result is compared with the “Grashof criterion” to verify the correctness of this method. It provides a general theory and method for innovative design and global scale analysis of ABLM.

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Section: Introductionmentioning

confidence: 86%

Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism

2019

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“…As mentioned above, kinematic constraints must be satisfied all the time, so the new concept called extended Cartesian coordinates will be applied in this study to make sure that non-holonomic constraints could be satisfied for all tasks. As a result, the Cartesian trajectory to be followed should be expressed in the extended form as shown in (6). Because our manipulator is velocity controlled, the operational space tracking controller for a velocity controlled manipulator introduced in [36] has been adopted in this paper for the end-effector to track a user-defined Cartesian trajectory.…”

Section: End-effector Tracking Controllermentioning

confidence: 99%

“…With the rapid development of artificial intelligence (AI) technologies in recent years, more and more AI technologies have been applied to different kinds of bio-robotic systems [1][2][3][4][5][6]. Legged bio-robotic systems mounted with manipulators have been drawing much attention of both industrial and academic community for their advantages of combining manipulation and locomotion in uneven terrains.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

Yang

Zha

et al. 2020

Sci. China Inf. Sci.

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Mobile manipulators, which are intrinsically redundant when the manipulator and mobile base are moving together, are known for their capabilities to carry out multiple tasks at the same time. This paper presents a whole-body control framework, inspired by legged bio-robots, for a velocity controlled non-holonomic mobile manipulator based on task priority. Control primitives, such as manipulability optimization, trajectory tracking of the end-effector and mobile base, and collision avoidance, are considered in the framework and arranged at different priorities. Lower priority tasks are projected into the null space of control tasks with higher priorities. As a result, lower level tasks are completed without affecting the performance of higher priority tasks. Several experiments are implemented to verify the effectiveness of the proposed controller. The proposed method is proved to be an effective way to solve the whole-body control problem of velocity controlled mobile manipulators.

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“…The approach was also proven to be successful on other robotic legs, e.g. [38]. The mass of the virtual harmonic oscillator is set to 1 kg, leaving the virtual stiffness to determine the hopping pattern.…”

Section: Dual-motormentioning

confidence: 99%

Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity

et al. 2020

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Redundancy facilitates some of the most remarkable capabilities of humans, and is therefore omni-present in our physiology. The relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator (SEDMA), an actuator inspired by the kinematic redundancy exhibited by myofibrils. The actuator consists of two motors coupled to a single spring at the output. Such a system has a redundant degree of freedom, which can be exploited to optimize aspects such as accuracy, impedance, fault-tolerance and energy efficiency. To test its potential for human-like motions, the SEDMA actuator is implemented in a hopping robot. Experiments on a physical demonstrator show that the robot's movement patterns resemble human squat jumps. We conclude that robots with bio-inspired actuator designs facilitate human-like movement, although current technical limitations may prevent them from reaching the same dynamic and energetic performance.

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A parallel actuated pantograph leg for high-speed locomotion

Cited by 19 publications

References 24 publications

Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism

Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism

Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity

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