Dynamic simulation of six-legged robots with a focus on joint friction

Bombled, Q.; Verlinden, Olivier

doi:10.1007/s11044-012-9305-z

Cited by 10 publications

(5 citation statements)

References 36 publications

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“…Sakamoto and Kondo (2012) presented a passive robotic medical application in which the Linux system was in charge of reading measurements and carrying out the force-feedback data to motors. A sixlegged robot, controlled by several hardware PI 14 controllers that receive the set point from a gait algorithm run on a PREEMPT_RT system with a loop frequency of 100Hz, was presented by Bombled and Verlinden (2012).…”

Section: Use Casesmentioning

confidence: 99%

The Real-Time Linux Kernel

2019

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The increasing functional and nonfunctional requirements of real-time applications, the advent of mixed criticality computing, and the necessity of reducing costs are leading to an increase in the interest for employing COTS hardware in real-time domains. In this scenario, the Linux kernel is emerging as a valuable solution on the software side, thanks to the rich support for hardware devices and peripherals, along with a well-established programming environment. However, Linux has been developed as a general-purpose operating system, followed by several approaches to introduce actual real-time capabilities in the kernel. Among these, the PREEMPT_RT patch, developed by the kernel maintainers, has the goal to increase the predictability and reduce the latencies of the kernel directly modifying the existent kernel code. This article aims at providing a survey of the state-of-the-art approaches for building real-time Linux-based systems, with a focus on PREEMPT_RT, its evolution, and the challenges that should be addressed in order to move PREEMPT_RT one step ahead. Finally, we present some applications and use cases that have already benefited from the introduction of this patch.

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Section: Use Casesmentioning

confidence: 99%

The Real-Time Linux Kernel

2019

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“…24 This model is well known and is generally called the compliant normal contact force model, which had also been described in the studies of various researchers. [25][26][27][28][29][30] Besides the compliant normal contact force, there is also lateral or tangential contact force (also called friction force), which appears during contact as mentioned above. Simple classical Coulomb's (or Amonton's) model 31 is the most widely employed friction force model although it had been modified by various researchers from time to time to tackle their problem of interest like the Dahl's model, Lugre's model, Lueven model, GMS model, Iwan model, etc.…”

Section: Introductionmentioning

confidence: 99%

Optimal Feet-Forces’ and Torque Distributions of Six-Legged Robot Maneuvering on Various Terrains

Mahapatra¹,

Roy

Pratihar

2019

Robotica

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SUMMARYAn analytical model with coupled dynamics for a realistic six-legged robotic system locomoting on various terrains has been developed, and its effectiveness has been proven through computer simulations and validated using virtual prototyping tools and real experiment. The approach is new and has not been attempted before. This study investigated the optimal feet-forces’ distributions under body force and foot–ground interaction considering compliant contact and friction force models for the feet undergoing slip. The kinematic model with 114 implicit constraints in 3D Cartesian space has been transformed in terms of generalized coordinates with a reduced explicit set of 24 constrained equations using kinematic transformations. The nonlinear constrained inverse dynamics model of the system has been formulated as a coupled dynamical problem using Newton–Euler method with realistic environmental conditions (compliant foot–ground contact, impact, and friction) and computed using optimization techniques due to its indeterminate nature. One case study has been carried out to validate the analytical data with the simulated ones executed in MSC.ADAMS® (Automated Dynamic Analysis of Mechanical Systems), while the other case study has been conducted to validate the analytical and simulated data with the experimental ones. In both these cases, results are found to be in close agreement, which proves the efficacy of the model.

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“…The developed kinematics models for the six-legged robots by some other researchers were simplified with the assumptions like the steady-state condition of the trunk body for different speeds, zero pitching and rolling angles of the trunk body, no change in the leg's position (i.e., no slippage) in support phase (Figliolini et al 2007;Hauser et al 2008;Yoneda et al 1997). More recently, some researches have studied the radially symmetric six-legged robots (Wang et al 2010(Wang et al , 2011Li et al 2012b;Bombled and Verlinden 2012), a transition from rectangular six-legged robots. Some other studies on kinematics of multi-legged robots have also been reported recently (Soyguder and Alli 2012).…”

Section: Introductionmentioning

confidence: 99%

Computer aided modeling and analysis of turning motion of hexapod robot on varying terrains

Mahapatra

Roy

Pratihar

2015

Int J Mech Mater Des

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To successfully design a hexapod robot with maneuverability over varying terrains, the kinematic and dynamic analyses for its motion are very essential. This paper proposes an integrated approach for carrying out design, analysis and simulation of the motions and mechanisms of hexapod robots generating turning gaits. A new path planning approach is proposed for the turning motion analysis of the robot walking over any kind of terrain varying from flat to rough in three-dimensional Cartesian space with the desired gait pattern. The kinematics model of the hexapod robot having legs of three degrees of freedom each is developed to simulate turning motion, and its performance is tested on a realistic computer aided design model using the available virtual prototyping tools. The model is capable of investigating various kinematic parameters of the hexapod robot like displacement, velocity, acceleration, trace of the position of aggregate center of mass during turning motions. A case study is solved and the theoretically obtained results are verified by simulating the same in a commercially available numerical solver for multibody dynamic analysis like MSC.ADAMS Ò . The results show a close agreement between the theoretical and simulated results, which proves the efficacy of the proposed algorithm.

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Dynamic simulation of six-legged robots with a focus on joint friction

Cited by 10 publications

References 36 publications

The Real-Time Linux Kernel

The Real-Time Linux Kernel

Optimal Feet-Forces’ and Torque Distributions of Six-Legged Robot Maneuvering on Various Terrains

Computer aided modeling and analysis of turning motion of hexapod robot on varying terrains

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