Force-based stability margin for multi-legged robots

Agheli, Mahdi; Nestinger, Stephen S.

doi:10.1016/j.robot.2016.05.012

Cited by 15 publications

(8 citation statements)

References 34 publications

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“…Then, the force applied at the end of the leg from the ground will be solved through Eq. (27). When the matrix [F] has the minimum norm solution:…”

Section: P F P Mmentioning

confidence: 99%

Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

Zhao

Yang

et al. 2023

Preprint

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To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot (ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the leg-arm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

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“…Then, the force applied at the end of the leg from the ground will be solved through Eq. (27). When the matrix [F] has the minimum norm solution:…”

Section: P F P Mmentioning

confidence: 99%

Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

Zhao

Yang

et al. 2023

Preprint

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show abstract

“…The experimental parameters are shown in Table 3. On the premise that the foot ends of the support legs were not sliding relative to the ground, the posture of the body was changed from the initial attitude angle E f = [0, 5, 0] T to the target attitude angle E a = [5,18,10] T .…”

Section: Simulationmentioning

confidence: 99%

“…The above improvements to the mechanical structure have improved the adaptability of the robot to higher slopes to a certain extent. Agheli [5] proposed an improved foot force stability margin method, which uses measured contact foot force as a measure of stability, simplifying data and calculation requirements, and making the robot suitable for flat and uneven terrain. Xie et al [6] proposed a four-legged robot attitude control method that uses the hip-side swing joint moment of the support leg to balance the body's turnover.…”

Section: Introductionmentioning

confidence: 99%

Research on the Stationarity of Hexapod Robot Posture Adjustment

Zhang

Wang

Gao

et al. 2020

Sensors

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This paper proposes a smooth adjustment method for the instability problem that occurs during the start and stop of a multi-footed robot during attitude change. First, kinematics analysis is used to establish the mapping relationship between the joint angles of the robot support legs and the body posture. The leg joint angle is a known quantity that can be measured accurately and in real time. Therefore, when the position of the foot end of the support leg is unchanged, a unique set of joint angles can be obtained with the change of body posture at a certain moment. Based on the designed mapping model, the smooth adjustment of the posture can be achieved by the smooth adjustment of the support legs. Second, a constraint index that satisfies the requirements of the robot’s steady adjustment of the robot is given. The S-curve acceleration/deceleration method is used to plan the body’s attitude angle transformation curve, and then the mapping control relationship is used to obtain the control trajectory requirements of the joint to achieve smooth adjustment. In addition, this paper also gives a simple choice and motion control method for the redundancy problem caused by the number of support legs of a multi-footed robot when the attitude is changed. The simulation and prototype experiments verify and analyze the proposed method. The results of comparative experiments show that the posture adjustment method proposed in this paper has continuous acceleration without breakpoints, the speed changes gently during the start and stop phases of the attitude transformation, and there is no sudden change in the entire process, which improves the consistency of the actual values of the attitude planning curve with the target values. The physical prototype experiment shows that the maximum deviation between the actual value of the attitude angular velocity and the target value changes from 62.5% to 5.5%, and the degree of fit increases by 57.0%. Therefore, this study solves the problem of the instability of the fuselage when the robot changes its attitude, and it provides an important reference for the multi-footed robot to improve the terrain adaptability.

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“…A control simulation platform was established to obtain the optimal controller parameters, and all the proposed methods were finally verified through simulations and experiments [17,18] . Some researchers [19][20][21] studied and implemented a real-time robust balance control for a humanoid robot under environment disturbance, the robot with robust control can resist an external thrust, stand on a two-axis inclinable platform, or walk on a see-saw successfully. Agheli et al [22] presented the Foot Force Stability Margin which was applicable to all types of multi-legged and multi-wheeled robots.…”

Section: Introductionmentioning

confidence: 99%

Development of agricultural bionic mechanisms: investigation of the effect of joint angle and pressure on the stability of goats moving on sloping lands

Zhang

Li-min

Wang

et al. 2018

International Journal of Agricultural and Biological Engineering

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Abstract:The use of small-scale agricultural machinery becomes prevalent as it provides the stability of agricultural machinery research ideas. To lay the theoretical foundation for the research and design of agriculture walking mechanism, the Phantom Camera Control software was used to measure the anterior and posterior joint angle of a goat walking on different slopes. Foot pressure was measured by the film pressure sensor. The result of joint motion sequence, range of motion, and change of range showed that the fitting degree of the measured value was accurate. As the goat walking speed increased, the level of the hind limb angle changed to ensure itself stability. When the goat is walking, the forelimbs bear more weight than the hind limbs due to the different static and physiological structures of the front and rear legs. The key parameters of gait on different slopes were analyzed. The curve of angle change of legs was measured and analyzed when the goat is walking in slope. The results showed that, with the increase of the slope gradient, the anterior hip angle ranges from 83.3° to 117.1°, the posterior hip angle ranges at 120.3°-173.1°, the left knee angle ranges from 91.3° to 170.1°, the right knee angle is roughly the same as its range of variation. When the slope increased, the pressure change of left hind foot was consistent with that of the right anterior foot, and the pressure change of right hind foot was consistent with that of the left anterior foot. This demonstrated the theory of diagonal gait. Meanwhile, with the change of the slope, the plantar pressure of the limbs changes periodically. The research results verified the rationality of the four-legged bionic mechanism under various parameters, which can provide a theoretical basis for the design of agricultural walking mechanism to adapt different slopes in the hilly and mountainous areas.

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Force-based stability margin for multi-legged robots

Cited by 15 publications

References 34 publications

Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

Research on the Stationarity of Hexapod Robot Posture Adjustment

Development of agricultural bionic mechanisms: investigation of the effect of joint angle and pressure on the stability of goats moving on sloping lands

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