A study on quadruped mobile robots

Taheri, Hassan; Mozayani, Nasser

doi:10.1016/j.mechmachtheory.2023.105448

Cited by 18 publications

(2 citation statements)

References 209 publications

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“…Working in extreme conditions, including explosive, nuclear, high-voltage and magneticresonance environments, is a big challenge for robots. Electric-motor-driven robots have been extensively studied for their efficiency, precision, versatility and adaptability [1], including wheeled, tracked and legged robots that use electric motors as their primary power source to perform various tasks and functions. For example, fully sealed wheeled robots [2,3] use electric motors to drive the wheels for operations in chemical, radiological and nuclear missions.…”

Section: Introductionmentioning

confidence: 99%

“…However, the operating time of these robots under radioactive conditions is limited by the maximum dose that their weakest components can sustain. Compared to wheeled and tracked robots, electric-motor-driven legged robots [1,7] have the ability to make and break contact with the ground, thus navigating on challenging terrains such as rough and narrow spaces. They were built for applications in nuclear plants [8,9], oil/gas platforms [10,11] and underground mines [12], but their electronic components have a high risk of being damaged in radiation-contaminated spaces.…”

Section: Introductionmentioning

confidence: 99%

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Development of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints

Jiang,

Wang,

Zhang

2024

Robotics

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Inspired by musculoskeletal systems in nature, this paper presents a pneumatically actuated quadruped robot which utilizes two soft–rigid hybrid rotary joints in each of the four two-degrees of freedom (DoF) planar legs. We first introduce the mechanical design of the rotary joint and the integrated quadruped robot with minimized onboard electronic components. Based on the unique design of the rotary joint, a joint-level PID-based controller was adopted to control the angular displacement of the hip and knee joints of the quadruped robot. Typical gait patterns for legged locomotion, including the walking and trotting gaits, were investigated and designed. Proof-of-concept prototypes of the rotary joint and the quadruped robot were built and tested. The experimental results demonstrated that the rotary joint generated a maximum torque of 5.83 Nm and the quadruped robot was capable of locomotion, achieving a trotting gait of 187.5 mm/s with a frequency of 1.25 Hz and a walking gait of 12.8 mm/s with a gait cycle of 7.84 s. This study reveals that, compared to soft-legged robots, the quadruped robot has a simplified analytical model for motion control, size scalability and high movement speeds, thereby exhibiting significant potential for applications in extreme environments.

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Section: Introductionmentioning

confidence: 99%