Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

Zang, Xizhe; Liu, Yixiang; Li, Wenyuan; Lin, Zhenkun; Zhao, Jie

doi:10.3390/app7101005

Cited by 5 publications

(3 citation statements)

References 35 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Each variable stiffness unit mainly consists of a pneumatic bladder and a mechanical reversing valve. When walking on rough ground, the pneumatic bladders in contact with bumps are compressed, and the corresponding reversing valves are triggered to expel out the air, enabling the pneumatic bladders to adapt to the bumps with low stiffness, while the other pneumatic bladders remain rigid and maintain stable contact with the ground, providing support to the biped robot [4]. Gerardo Muscolo et al present a novel method to determine the center of mass position of each link for human-like multibody biped robots.…”

Section: Biped Robotsmentioning

confidence: 99%

Special Feature on Bio-Inspired Robotics

2018

View full text Add to dashboard Cite

show abstract

Section: Biped Robotsmentioning

confidence: 99%

Special Feature on Bio-Inspired Robotics

2018

View full text Add to dashboard Cite

show abstract

“…The foot mainly plays the role of cushioning and support, and exhibits unique functions and properties during robot activities, which need to be adapted to different types of ground. Most importantly, the anti-slip performance depends largely on the structure of the foot, which plays a decisive role in the stable walking of the robot [9][10][11][12][13]. The development of bionics provides new research ideas for the foot design of robots and improving the locomotion of quadruped robots [14,15].…”

Section: Introductionmentioning

confidence: 99%

Design of Bionic Foot Inspired by the Anti-Slip Cushioning Mechanism of Yak Feet

Tian,

Zhou,

Chen

et al. 2024

Biomimetics

View full text Add to dashboard Cite

In recent years, legged robots have been more and more widely used on non-structured terrain, and their foot structure has an important impact on the robot’s motion performance and stability. The structural characteristics of the yak foot sole with a high outer edge and low middle, which has excellent soil fixation ability and is an excellent bionic prototype, can improve the friction between the foot and the ground. At the same time, the foot hooves can effectively alleviate the larger impact load when contacting with the ground, which is an excellent anti-slip buffer mechanism. The bionic foot end design was carried out based on the morphology of the yak sole; the bionic foot design was carried out based on the biological anatomy observation of yak foot skeletal muscles. The virtual models of the bionic foot end and the bionic foot were established and simulated using Solidworks 2022 and Abaqus 2023, and the anti-slip performance on different ground surfaces and the influence of each parameter of the bionic foot on the cushioning effect were investigated. The results show that (1) the curved shape of the yak sole has a good anti-slip performance on both soil ground and rocky ground, and the anti-slip performance is better on soil ground; (2) the curved shape of the yak sole has a larger maximum static friction than the traditional foot, and the anti-slip performance is stronger under the same pressure conditions; (3) the finger pillow–hoof ball structure of the bionic foot has the greatest influence on the buffering effect, and the buffering effect of the bionic foot is best when the tip of the bionic foot touches the ground first.

show abstract

“…Pneumatic systems have been rapidly developed in industrial production because of the advantages of low cost, quick response, and great energy-saving [1][2][3]. The pneumatic rotary actuator can realize the change of rotation angle, so it is widely used in the rotation of the mechanical arm, the rotation of the platform, the opening and closing of the valve, and so on [4]. At present, the "two points" control method is the most common method to control the rotation position of a pneumatic rotary actuator, but it is difficult to realize the pinpoint at any position [5].…”

Section: Introductionmentioning

confidence: 99%

Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

Zhang

Wei

et al. 2018

Applied Sciences

View full text Add to dashboard Cite

In order to accurately control the rotation position of a pneumatic rotary actuator, the flow state of the gas and the motion state of the pneumatic rotary actuator in the pneumatic rotary actuator position servo system are analyzed in this paper. The mathematical model of the system and the experiment platform are established after that. An Adaptive Differential Evolution (ADE) algorithm which adaptively ameliorates the scaling factor and crossover probability in the process of individual evolution is proposed and applied to the parameter optimization of PD controller. The experimental platform is used to compare the controller with Differential Evolution (DE) algorithm and NCD-PID controller. Finally, the characteristics of the system are tested by increasing the inertial load. The experimental results illustrate that system using ADE-PD control strategy has greater position precision and faster response than using DE-PD and NCD-PID strategies, and shows great robustness.

show abstract

Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground

Cited by 5 publications

References 35 publications

Special Feature on Bio-Inspired Robotics

Special Feature on Bio-Inspired Robotics

Design of Bionic Foot Inspired by the Anti-Slip Cushioning Mechanism of Yak Feet

Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

Contact Info

Product

Resources

About