Control system design for four-legged walking robot with insect type leg using ROS

Kalburgi, Virbhadrappa; James, Priyanka; Sreedharan, Pramod

doi:10.1016/j.matpr.2020.10.428

Cited by 7 publications

(2 citation statements)

References 9 publications

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“…Despite the difficulties associated with building walking robots, many people are decide to build and further improve them. For example, the authors have built a four-legged walking robot modelled on insects [1,2] or mammals [3,4]. A general review of the development of such machines has been done for four-legged robots [5,6].…”

Section: Introductionmentioning

confidence: 99%

The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

Popowniak

2024

TransNav

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Section: Introductionmentioning

confidence: 99%

The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

Popowniak

2024

TransNav

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“…A series of four-legged (quadruped), six-legged (hexapod), eight-legged (octopod) robots inspired by insects and animals has been developed with various structures and functions [3][4][5][6][7][8][9][10][11]. As the number of legs increases, the robot becomes more stable, but the control system becomes more complex to construct [12]. Although the mechanism and control scheme of legged robots are more complex than those of wheeled robots, the legged robots provide the capability to adapt to complex terrain, which is lacking in the wheeled counterpart [13].…”

Section: Introductionmentioning

confidence: 99%

A robotic leg inspired from an insect leg

et al. 2022

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While most insect-inspired robots come with a simple tarsus, such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and detach on plant surfaces by actuating a single muscle. Thus, installing an insect-inspired tarsus on legged robots would improve their locomotion on complex terrain. This paper shows that the tendon-driven ball–socket structure provides the tarsus with both flexibility and rigidity, which is necessary for the beetle to walk on a complex substrate such as a mesh surface. Disabling the tarsus’ rigidity by removing the socket and elastic membrane of a tarsal joint, means that the claws could not attach to the mesh securely. Meanwhile, the beetle struggled to draw the claws out of the substrate when we turned the tarsus rigid by tubing. We then developed a cable-driven bio-inspired tarsus structure to validate the function of the tarsus as well as to show its potential application in the legged robot. With the tarsus, the robotic leg was able to attach and retract smoothly from the mesh substrate when performing a walking cycle.

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How do you do the things that you do? Ethological approach to the description of robot behaviour

Korcsok,

Korondi

2023

BIOLOGIA FUTURA

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Control system design for four-legged walking robot with insect type leg using ROS

Cited by 7 publications

References 9 publications

The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

A robotic leg inspired from an insect leg

How do you do the things that you do? Ethological approach to the description of robot behaviour

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