Dynamics and Optimal Feet Force Distributions of a Realistic Four-legged Robot

Agarwal, Saurav; Mahapatra, Abhijit; Roy, Shibendu Shekhar

doi:10.11591/ijra.v1i4.762

Cited by 7 publications

(9 citation statements)

References 13 publications

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“…The following assumptions are made for computing foot-force distributions: During the leg's flying phase, there is no foot-terrain interaction, and the ground reaction forces become equal to zero. However, during the support phase, ground contact exists and system of equations become indeterminate, which has to be solved using an optimization criterion, e.g., optimal foot force distribution [10,11].The ground-reaction force vector on foot [i] at the tip point of the leg is defined as, Fig. 6:…”

Section: Ground Reaction Force Distribution On Hexapod Legsmentioning

confidence: 99%

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Dynamic Model and Analysis of a Hexapod Robot

Eldreny¹,

Elnashar²,

Hegazi³

et al. 2014

The International Conference on Applied Mechanics and Mechanica

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This paper presents a dynamic model of a six-legged robot. The direct and inverse kinematic analyses for each leg are considered in order to develop an overall kinematic model of the robot. Feet forces distributions of the hexapod are calculated in order to solve for the dynamic model of the hexapod. Lagrange-Euler formulation is then used to determine the joint torques required for each leg of the hexapod. However, in order to have a better understanding of walking, dynamic stability, energy efficiency, and on-line control, kinematic and dynamic models based on a realistic walking robot design are necessary. Here, an attempt to carry out kinematics, dynamics and optimal feet force distributions of a realistic six-legged robot.

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Section: Ground Reaction Force Distribution On Hexapod Legsmentioning

confidence: 99%

“…The position vector of the tip point of leg number [i] relative to the origin of the reference frame is defined as: (11) where i = 1, 2, . .…”

Section: Ground Reaction Force Distribution On Hexapod Legsmentioning

confidence: 99%

Dynamic Model and Analysis of a Hexapod Robot

Eldreny¹,

Elnashar²,

Hegazi³

et al. 2014

The International Conference on Applied Mechanics and Mechanica

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“…12 Based on this, inverse dynamics is introduced to solve required torques in the joint space subject to contact constraints. 10,11 The other approach resolves the problem of contact force distribution through the analytic solution, which is beneficial for especially for embedded applications, where low-cost controllers demand effective solutions using limited amount of computation. It is characterized that the under-determined force system can be transformed into a determined one by means of imposing equality constraints.…”

Section: Introductionmentioning

confidence: 99%

“…[5][6][7] Therefore, to analyze the contact forces that a legged robot can exert, there are a number of approaches to solve the problem of the contact force distribution in the literature, which can be categorized into two main classes. One is to obtain the solutions by means of numerical optimization, such as quadratic programming (QP) algorithms, [8][9][10][11] and the other obtains analytic calculation by imposing extra constraints. The optimization-based methods determine the optimal contact forces through cost criteria and contact constraints.…”

Section: Introductionmentioning

confidence: 99%

An analytic solution for the force distribution based on Cartesian compliance models

Wang

Shi

Zha

et al. 2019

International Journal of Advanced Robotic Systems

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With the advent of force control in legged robots, there is an increasing demand in research on controlling contact forces that can ensure stable interaction and balance of the system. This article aims to solve the force distribution problem by an analytic solution to regulate the contact forces particularly in a computationally efficient manner. To this end, compliance models, consisting of a virtual model of the torso and impedance models of supporting feet, are developed for a quadruped robot. The linear constraints are formulated for the analytic method based on the compliance models, and the minimization of foot slippage and the internal forces within the closed chain are also taken into account. Moreover, given the compliance models, the postural compensation of the torso can be achieved by modifying the trajectories of supporting feet in order to generate desired forces. The comparisons between the proposed analytic and numerical methods show that the analytic one is advantageous for embedded controllers due to its high computational efficiency. Finally, the effectiveness of the proposed method is first validated in simulations and then in experiments on a physical quadruped robot, and the data are presented and analyzed.

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“…Merdivenlere tırmanabilmeli, engellerin üstünden geçebilmeli ve engebeli arazilerde gezinebilmelidir [3]. Tüm bu avantajlar, bacaklı robotların mobil robotlar alanında önemli ve aktif bir araştırma alanı olmasını sağlar [4]. Bacaklı mobil robot çalışmalarında, daha hızlı hareket kabiliyetine sahip oldukları için genelde 4 bacaklı robot uygulamaları yaygındır.…”

Section: Introductionunclassified

Balance With a Two-Legged Robot With Artificial Neural Network Support

Tatar¹,

Taşar²,

Tanyıldızı³

2019

Bitlis Eren Üniversitesi Fen Bilimleri Dergisi

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Öz Robotlar genellikle doğadaki canlılardan esinlenerek tasarlanmaktadır. Özellikle eklem bacaklı robot çalışmalarında 4 bacaklı robotlara çok geniş yer verilmektedir. Doğada 4 bacaklı hayvanların davranışlarından esinlenerek robotlara çeşitli özellikler kazandırılmaktadır. Dört bacaklı olan birçok hayvan doğar doğmaz ayağa kalkabilme ve hatta yürüyebilme becerisine sahiptir. Bu canlıların fizyolojik gelişimleri anne karnında tamamlanmakta ve doğduktan hemen sonra kemik ve bacak kas grupları kullanılabilir duruma gelmektedir. Canlıların doğduktan sonra ayağa kalkarak dengede kalabilmesinin, bacak kaslarına beyinden iletilen nörolojik sinyallerle gerçekleştirildiği açıkça bilinen bir gerçektir. Bu bilgiler ışığında bu çalışmada, 4 bacaklı bir robotu andıran 2 bacaklı bir robotun düzlemsel kinematiği ve dinamiği elde edilerek, ayakta dengede kalabilme kabiliyetinin bir yapay sinir ağı desteği ile robota kazandırılması ele alınmıştır. Dinamik hareket için robotun düzlemsel modeli ele alınmış ve 7 eksenli hareket denklemleri elde edilmiştir. Robotun yerden kalkarak ayakta dengede kalabilmesi amaçlanmıştır. Bunun bir yapay sinir ağ yapısının kullanımı ile öğrenme sonucunda gerçekleştirilebilmesi hedeflenmiştir. Robotun eklemlerine uygulanması gereken kontrol sinyalleri için klasik PID kontrol yöntemi kullanılmıştır. Sistem cevapları grafiksel olarak elde edilmiş ve sonuçlar değerlendirilmiştir.

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Dynamics and Optimal Feet Force Distributions of a Realistic Four-legged Robot

Cited by 7 publications

References 13 publications

Dynamic Model and Analysis of a Hexapod Robot

Dynamic Model and Analysis of a Hexapod Robot

An analytic solution for the force distribution based on Cartesian compliance models

Balance With a Two-Legged Robot With Artificial Neural Network Support

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