Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain

Zhang, Ziqiang; Wang, Lun; Liao, Jinnong; Zhao, Jingjin; Zhou, Zhenyong; Liu, Xingkun

doi:10.1016/j.apm.2021.03.050

Cited by 11 publications

(4 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The optimization variables include not only leg posture parameters, but also the trunk movement trajectory and posture parameters. Through the coordination of leg postures and driving torques obtained by the improved bee colony algorithm, the legged robot can achieve good dynamic performance [42][43][44]. The method proposed in this paper can make the quadruped robot achieve fast steering in running, and the following factors need to be considered.…”

Section: Discussionmentioning

confidence: 99%

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

Meng

Jun

Zhang

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

The rapid change of motion direction during running is beneficial to improving the movement flexibility of the quadruped robot, which is of great relevance to its research. How to make the robot change its motion direction during running and achieve good dynamic stability is a problem to be solved. In this paper, a method to change the running direction of the cheetah-inspired quadruped robot is proposed. Based on the analysis of the running of the cheetah, a dynamic model of the quadruped robot is established, and a two-level stability index system, including a minimum index system and a range index system, is proposed. On this basis, the objective function based on the stability index system and optimization variables, including leg landing points, trunk movement trajectory, and posture change rule, are determined. Through these constraints, the direction changes with good dynamic stability of the cheetah-inspired quadruped robot during running is realized by controlling the leg parameters. The robot will not roll over during high-speed movement. Finally, the correctness of the proposed method is proven by simulation. This paper provides a theoretical basis for the quadruped robot’s rapid change of direction in running.

show abstract

Section: Discussionmentioning

confidence: 99%

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

Meng

Jun

Zhang

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…Some large creatures achieve directional jumps by changing muscle forces bilaterally with the sophisticated control of their complex feet. [36][37][38] However, the leg structure of a locust is simple, and it is impossible to exert complicated control in the fast kicking process. There was no consistent magnitude difference between the maximum forces of the left and right legs during the steering jumps.…”

Section: The Time Lag Between Hindleg Motions During a Steering Jumpmentioning

confidence: 99%

The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings

2022

Advanced Intelligent Systems

View full text Add to dashboard Cite

The locust's steering behavior has long been thought to be achieved under the control of fore‐ and mesothoracic legs before takeoff. This turning strategy is not necessarily present in all steering jumps. It is found that the locust could achieve a large‐angle steering jump without significant yaw rotation beforehand. Herein, how the hindlegs contribute to the steering jump, including kinematic analyses and reaction forces measurement, is studied. It is found that the contralateral hindleg of the turn direction presses down tens of milliseconds earlier than the ipsilateral side. The time lag between both hindlegs is primarily responsible for the steering jumps. The leg kickings with a time lag is induced exogenously by designing sequential electrical stimulation signals for the muscles of both legs. Under 0‐ms, 20‐ms, and 40‐ms time lags, the induced steering angles are 2.1°, 22.1°, and 24.2°, respectively, in the loosely tethered jumps. A locust is transformed into a bio‐robot via a custom e‐backpack and demonstrate a remote‐controlled 20° jump of the bio‐robot. The asynchronous actions of bilateral actuators for steering jumps are extremely beneficial for micro‐robots, as both the jumping and the steering functions can be compacted together.

show abstract

“…In addition to considering the reference points, constraint conditions are also taken into account during the design of mechanisms. For example, constraints such as inertia [ 13 ] and mechanism shape [ [14] , [15] , [16] ] are considered in the design of mechanisms to ensure that they have good dynamic performance or bionic characteristics.…”

Section: Introductionmentioning

confidence: 99%

Computer aided design of a single degree-of-freedom six-bar mechanism via Monte Carlo layered optimization method

Zhang,

Zhang

2024

Heliyon

Self Cite

View full text Add to dashboard Cite

Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain

Cited by 11 publications

References 30 publications

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings

Computer aided design of a single degree-of-freedom six-bar mechanism via Monte Carlo layered optimization method

Contact Info

Product

Resources

About