Development of TITAN XI: a quadruped walking robot to work on slopes - design of system and mechanism

Hodoshima, Ryuichi; Doi, Takahiro; Fukuda, Yasushi; Hirose, Shigeo; Okamoto, Taro; Mori, Junichi

doi:10.1109/iros.2004.1389449

Cited by 35 publications

(14 citation statements)

References 5 publications

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“…Quadruped robot developed by Raibert [18], Titan XI [19] and Baby Elephant [1] are actuated by hydraulic actuation system. HyQ [3] is also partially actuated by hydraulic system.…”

Section: Actuation Systemmentioning

confidence: 99%

Development of a compliant legged quadruped robot

et al. 2018

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This paper presents the detailed steps for design and development of a compliant legged fault tolerant quadruped robot where each leg has two links and two motorized revolute joints for locomotion. The body and upper links of legs are rigid whereas the lower link of each leg is compliant. Amble gait is demonstrated on the developed robot. Safety and reliability are the most critical issues for the quadruped robot. During the failure of any joint, performance of quadruped robot is affected. In this paper, locked joint failure is also discussed. Strategies for fault tolerant control of the quadruped are developed and experimentally validated. The developed robot can be used for various hardware-in-the-loop controller prototyping such as reconfiguration, fault tolerant control, and posture control, etc. pertaining to quadruped robots.

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“…Quadruped robot developed by Raibert [18], Titan XI [19] and Baby Elephant [1] are actuated by hydraulic actuation system. HyQ [3] is also partially actuated by hydraulic system.…”

Section: Actuation Systemmentioning

confidence: 99%

Development of a compliant legged quadruped robot

et al. 2018

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“…TITAN XI [10] has four stronger legs and two crawlers, which can adapt different terrains by changing locomotion methods, such as walking on a slope using four legs or crawling on flat ground using two crawlers. However, there are no control method to combine the advantages of crawling and walking at the same time for TITAN XI.…”

Section: • Mobility In Unknown (Low-visibility) Environmentmentioning

confidence: 99%

Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

et al. 2018

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How to improve task performance and how to control a robot in extreme environments when just a few sensors can be used to obtain environmental information are two of the problems for disaster response robots (DRRs). Compared with conventional DRRs, multi-arm multi-flipper crawler type robot (MAMFR) have high mobility and task-execution capabilities. Because, crawler robots and quadruped robots have complementary advantages in locomotion, therefore we have the vision to combine both of these advantages in MAMFR. Usually, MAMFR (like four-arm four-flipper robot OCTOPUS) was designed for working in extreme environments such as that with heavy smoke and fog. Therefore it is a quite necessary requirement that DRR should have the ability to work in the situation even if vision and laser sensors are not available. To maximize terrains adaption ability, self-balancing capability, and obstacle getting over capability in unstructured disaster site, as well as reduce the difficulty of robot control, we proposed a semi-autonomous control system to realize this compound locomotion method for MAMFRs. In this control strategy, robot can explore the terrain and obtain basic information about the surrounding by its structure and internal sensors, such as encoder and inertial measurement unit. Except that control system also can recognize the relative positional relationship between robot and surrounding environment through its arms and crawlers state when robot moving. Because the control rules is simple but effective, and each part can adjust its own state automatically according to robot state and explored terrain, MRMFRs have better terrain adaptability and stability. Experimental results with a virtual reality simulator indicated that the designed control system significantly improved stability and mobility of robot in tasks, it also indicated that robot can adapt complex terrain when controlled by designed control system.

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“…Walking on slopes has been a topic of active interest since the early days of legged robotics [3], [4], and it continues to be heavily researched in recent years [5], [6], [7], [8], [9]. Most of the existing body of work on this topic deals with statically stable gaits.…”

Section: A Related Workmentioning

confidence: 99%

Dynamic trotting on slopes for quadrupedal robots

Gehring

Bellicoso

Coros

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Quadrupedal locomotion on sloped terrains poses different challenges than walking in a mostly flat environment. The robot's configuration needs to be explicitly controlled in order to avoid slipping and kinematic limits. To this end, information about the terrain's inclination is required for carefully planning footholds, the pose of the main body, and modulation of the ground reaction forces. This is even more important for dynamic trotting, as only two support legs are available to compensate for gravity and drive a desired motion. We propose a reliable method for estimating the parameters of the terrain quadrupedal robots move on, in the face of limited perception capabilities and drifting robot pose estimates. By fusing inertial measurements, kinematic data from joint encoders and contact information from force sensors, the local inclination can be robustly estimated and used to optimize the contact forces to reduce slippage. The estimated terrain information, namely the pitch and roll angles of the ground plane, is exploited in an extended version of our previous modelbased control approach. Our improved control framework enabled StarlETH, a medium-sized, fully autonomous, torquecontrollable quadrupedal robot, to trot on slopes of up to 21• .

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Development of TITAN XI: a quadruped walking robot to work on slopes - design of system and mechanism

Cited by 35 publications

References 5 publications

Development of a compliant legged quadruped robot

Development of a compliant legged quadruped robot

Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

Dynamic trotting on slopes for quadrupedal robots

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