Design and simulation analysis of a bionic ostrich robot

Chen, Guangrong; Wei, Ningze; Li, Jin; Lu, Haitao

doi:10.1007/s10237-022-01619-9

Cited by 12 publications

(4 citation statements)

References 22 publications

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“…Compared to wheeled robots [ 1 , 2 ] and tracked robots [ 3 , 4 ], legged robots have exhibited excellent adaptability in unknown and unstructured environments [ 5 ]. They are particularly suited for tasks such as exploration, transportation, rescue operations, and military assistance in complex outdoor environments, making them a focal point of research for roboticists worldwide [ 6 , 7 , 8 , 9 ]. However, the movement speed of existing legged robots falls far short of that of natural quadruped mammals.…”

Section: Introductionmentioning

confidence: 99%

Running Gait and Control of Quadruped Robot Based on SLIP Model

He,

Li,

Wang

et al. 2024

Biomimetics

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Legged robots have shown great adaptability to various environments. However, conventional walking gaits are insufficient to meet the motion requirements of robots. Therefore, achieving high-speed running for legged robots has become a significant research topic. In this paper, based on the Spring-Loaded Inverted Pendulum (SLIP) model and the optimized Double leg—Spring-Loaded Inverted Pendulum (D-SLIP) model, the running control strategies for the double flying phase Bound gait and the Rotatory gallop gait of quadruped robots are designed. First, the dynamics of the double flying phase Bound gait and Rotatory gallop gait are analyzed. Then, based on the “three-way” control idea of the SLIP model, the running control strategy for the double flying phase Bound gait is designed. Subsequently, the SLIP model is optimized to derive the D-SLIP model with two touchdown legs, and its dynamic characteristics are analyzed. And the D-SLIP model is applied to the running control strategy of the Rotatory gallop gait. Furthermore, joint simulation verification is conducted using Adams virtual prototyping and MATLAB/Simulink control systems for the designed control strategies. Finally, experimental verification is performed for the double flying phase Bound gait running control strategy. The experimental results demonstrate that the quadruped robot can achieve high-speed and stable running.

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Section: Introductionmentioning

confidence: 99%

Running Gait and Control of Quadruped Robot Based on SLIP Model

He,

Li,

Wang

et al. 2024

Biomimetics

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“…In sum, researchers have argued that SLR can improve locomotion performance of robot by using simple walking and running model (Chen et al, 2022; Karssen et al, 2014). SLR was employed as a way to improve the stability and disturbance rejection of legged robots (Bao & Geng, 2018).…”

Section: Introductionmentioning

confidence: 99%

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Chen

Wei

et al. 2023

Journal of Field Robotics

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To improve the locomotion performance of legged robots, the swing leg retraction (SLR) technique is investigated in a hydraulic biped robot. First, the influence of SLR on the locomotion performance of the hydraulic biped robot is analyzed in theory and simulations based on an extended spring load inverted pendulum model. The influence contains three performance indicators: energy loss/effiency, friction/ slipping, and impact/compliance. Second, by synthesizing three performance indicators, using unified objective method and particle swarm optimization algorithm, the optimal SLR rate for gait planning based on Bezier curve is addressed.Finally, experiments are implemented to validate the effectiveness and feasibility of proposed method. And, the results show that the SLR technique is useful to reduce the impact force, improve the robot's locomotion stability and make room for impedance performance improvement of compliance controller. This research provides an insight for locomotion control of hydraulic legged robots.

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“…In 2022, Hurst developed a Cassie bipedal robot that emulates the characteristics of an ostrich. This robot features an efficient four-link series leg structure, enabling it to perform tasks in various complex environments [21]. Another notable creation is the Tesla Bot (Optimus), a humanoid robot equipped with electromechanical push rods, designed to undertake dangerous or repetitive tasks [22].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency

Chen,

An,

Wang

et al. 2023

Applied Sciences

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Mechanism parameters of bipedal robots are crucial for achieving efficient locomotion in complex environments. Inspired by the human energy-efficient walking style, this paper proposes a novel concept of full-range walking energy efficiency and explores the optimal linkage mechanism within certain ranges of step length and walking speed for bipedal robots. First, a bipedal model incorporating an upper body is established for dynamic analysis. Next, an optimal walking gait subject to walking constraints is solved by considering the full-range energy efficiency. Further, an optimal linkage mechanism is investigated, and the influence of dynamic parameters on energy efficiency is analyzed. Finally, the push-off impulse, minimum ground support force, and walking torque features are discussed. It shows that the full-range walking energy efficiency can be lowered by reducing the ratio of leg mass, concentrating mass at the hip joint, decreasing the length of the upper body, or increasing the center of mass of the leg. In addition, efficient walking motion can be achieved by designing the coordination of positive hip joint torque and push-off impulse at the ankle. This paper can be used to guide the mechanism parameter optimization and efficient walking gait design of bipedal robots.

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Design and simulation analysis of a bionic ostrich robot

Cited by 12 publications

References 22 publications

Running Gait and Control of Quadruped Robot Based on SLIP Model

Running Gait and Control of Quadruped Robot Based on SLIP Model

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Dynamic Optimization of Mechanism Parameters of Bipedal Robot Considering Full-Range Walking Energy Efficiency

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