Adaptive Impedance Control with Compliant Body Balance for Hydraulically Driven Hexapod Robot

Irawan, Addie; Nonami, Kenzo; Ohroku, Hiroshi; Akutsu, Yasunaga; Imamura, Shota

doi:10.1299/jsdd.5.893

Cited by 14 publications

(4 citation statements)

References 10 publications

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“…Irawan et al. [23] designed the typical large heavy‐duty legged robot, COMET‐IV, and used adaptive impedance control to achieve locomotion on uneven terrain under laboratory environments. There are published data on the WBC of large‐size hexapod robots on complex terrain, such as stairs and rubble.…”

Section: Introductionmentioning

confidence: 99%

“…Previous studies of large-size hexapod robots have not dealt with whole-body motion planning and used impedance control to realise active compliance. Irawan et al [23] designed the typical large heavy-duty legged robot, COMET-IV, and used adaptive impedance control to achieve locomotion on uneven terrain under laboratory environments. There are published data on the WBC of large-size hexapod robots on complex terrain, such as stairs and rubble.…”

Section: Introductionmentioning

confidence: 99%

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A heuristic control framework for heavy‐duty hexapod robot over complex terrain

Hou

Chai

et al. 2022

IET Cyber-Syst and Robotics

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The large and heavy-duty hexapod robot has strong motion stability and load capacity, which promises to have a wide range of application prospects in rescue and disaster relief. Multi-mode gait and static stability during walking make the hexapod robot adapt to more diverse terrains, while little research has been conducted on the motion control methods of heavy-duty hexapod robots in complex environments. A novel heuristic whole-body motion control framework for the heavy-duty hexapod robot to traverse complex terrain is presented. By splitting the legged locomotion into a single task, the whole-body motion could be planned in a reasonable time. The terrain adaptation strategy is designed to improve the complex terrain passability. Ground reaction forces are then optimised based on single rigid-body dynamics with heuristics. This framework utilised simple but powerful heuristics to approximate complex dynamics and allows for a single set of parameters for all task conditions. Simulation results demonstrate the robustness and adaptability of the proposed framework.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A heuristic control framework for heavy‐duty hexapod robot over complex terrain

Hou

Chai

et al. 2022

IET Cyber-Syst and Robotics

View full text Add to dashboard Cite

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“…In terms of actuators, compared with electric actuators, hydraulic actuators have the advantages of high power-to-mass ratio, fast dynamic response, and large output power. Many advanced hydraulic legged robots have been successfully researched, such as Boston Dynamics' Big Dog [1], IIT's HyQ [2], HyQ2Max [3] and miniHyQ [4], Shandong University's SCalf [5,6], Chiba University's COMET [7,8], NTUA's HexaTerra [9], SJTU's Baby Elephant [10].…”

Section: Introductionmentioning

confidence: 99%

Planning and Analysis of Centroid Fluctuation Gait for Hydraulic Hexapod Robot[−2pt]

et al. 2021

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Energy consumption is an important comprehensive index of the hydraulic hexapod robot (HHR). In this paper, the kinematics model and the hydraulic system energy consumption model of HHR are established. In order to reduce the energy consumption, a centroid fluctuation gait that adds the movement of the centroid in the vertical direction is proposed. Then the gait parameters such as step length, gait cycle, average centroid height, centroid fluctuation height, and phase that influence the energy consumption are studied which could provide a theoretical basis for parameter optimization. In the same gait parameters, compared with using constant height gait, the energy consumption of HHR using centroid fluctuation gait is generally reduced, and the maximum energy saving can be more than 10%. Finally, a virtual prototype is used to verify the effectiveness of the proposed methods.

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“…The proposed setup exhibits very fast cylinder force tracking (100 Hz) with high accuracy. In contrast to similar robots like COMET-VI [13], [14], this allows us to directly regulate the joint force without underlying cylinder position feedback loop. Despite large model uncertainty, we are able to track the ground contact force with an accuracy of about 3% of the machine weight.…”

Section: Introductionmentioning

confidence: 99%

Force Control for Active Chassis Balancing

Hutter

Leemann

Hottiger

et al. 2017

IEEE/ASME Trans. Mechatron.

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Abstract-This paper presents the realization of the worldwide first automated walking excavator chassis. To this end, the authors build a new generation of high-performance hydraulic valves with integrated pressure feedback to achieve fast and accurate cylinder force tracking. This allows to automatically adapt the legs to uneven terrain and to optimally shape the ground reaction forces in order to change orientation and height of the cabin. Due to the contact redundancy, automated balancing is implemented as a contact force optimization problem including constraints on contact forces and joint torques. The corresponding prioritized optimization problem can be simplified by using a quasi-static approximation of the system dynamics and a complexity reduction due to the kinematic structure of the legs. Our approach considers the unknown configuration and load of the cabin, arm, and bucket as system disturbances, whereby gravitational effects are approximated as well as possible. It is tested in a Gazebo simulation and validated in different experiments using a prototype walking excavator machine. The proposed method revolutionizes operator control of these versatile but complex multi-purpose vehicles: instead of manual and coordinatively very demanding cylinder position adjustment, the operator can command simple high-level commands like cabin pose. Furthermore, it significantly reduces peak forces in the cylinders and at the contact points, which causes less damage to the mechanics and the ground.

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Adaptive Impedance Control with Compliant Body Balance for Hydraulically Driven Hexapod Robot

Cited by 14 publications

References 10 publications

A heuristic control framework for heavy‐duty hexapod robot over complex terrain

A heuristic control framework for heavy‐duty hexapod robot over complex terrain

Planning and Analysis of Centroid Fluctuation Gait for Hydraulic Hexapod Robot[−2pt]

Force Control for Active Chassis Balancing

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