Design of a Large-scale Electrically-actuated Quadruped Robot and Locomotion Control for the Narrow Passage

Ye, Shusheng; Luo, Jun-Wei; Sun, Chuen-Tsai; Jin, Bingchen; Su, Juntong; Zhang, Aidong

doi:10.1109/iros51168.2021.9636262

Cited by 4 publications

References 22 publications

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Development of a Load‐Bearing, Terrain‐Adaptive Hexapod Robot With Chebyshev‐Linkage Legs

Ju,

Wu,

Guo

et al. 2024

Journal of Field Robotics

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This study introduces an exploratory design for a hexapod load‐carrying robot, aiming to address challenges commonly associated with quadruped robots, including limited load capacity and high control complexity. By leveraging a Chebyshev linkage‐based overconstrained leg‐foot architecture that combines high rigidity and low friction, along with a multi‐drive system for lateral movement, we propose a robot with improved adaptability to diverse terrains, such as snow, sand, puddles, ice, and deserts. This versatility suggests potential applications in areas such as factory inspection, field reconnaissance and transport, and desert exploration. Using static and dynamic analyses, we evaluated the leg structure's stress distribution and motion requirements, employing simulations in Workbench and Adams to cross‐validate our theoretical calculations. The development of a prototype and its subsequent testing under various environmental conditions aimed to demonstrate the design's practicality and the robot's operational capabilities in real‐world settings. Although the findings indicate progress toward enhancing load‐bearing capabilities and terrain adaptability with reduced control complexity, further research and development are necessary to fully realize the potential of such robotic systems in practical applications.

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