Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing

Schneider, Axel; Schmucker, U.

doi:10.5772/4734

Cited by 10 publications

(6 citation statements)

References 53 publications

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“…Similar synergies may underlie muscle activation patterns in walking (Chvatal et al 2011;Neptune et al 2009). The regulation of forces has also been successfully adopted in simulations of walking and in the control of legged robots (Ekeberg and Pearson 2005;Schneider and Schmucker 2006). In control systems and models, forces are often defined as vectors within a reference frame (Raptis et al 2010).…”

mentioning

confidence: 99%

Force encoding in stick insect legs delineates a reference frame for motor control

Zill

Schmitz

Chaudhry

et al. 2012

Journal of Neurophysiology

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The regulation of forces is integral to motor control. However, it is unclear how information from sense organs that detect forces at individual muscles or joints is incorporated into a frame of reference for motor control. Campaniform sensilla are receptors that monitor forces by cuticular strains. We studied how loads and muscle forces are encoded by trochanteral campaniform sensilla in stick insects. Forces were applied to the middle leg to emulate loading and/or muscle contractions. Selective sensory ablations limited activities recorded in the main leg nerve to specific receptor groups. The trochanteral campaniform sensilla consist of four discrete groups. We found that the dorsal groups (Groups 3 and 4) encoded force increases and decreases in the plane of movement of the coxo-trochanteral joint. Group 3 receptors discharged to increases in dorsal loading and decreases in ventral load. Group 4 showed the reverse directional sensitivities. Vigorous, directional responses also occurred to contractions of the trochanteral depressor muscle and to forces applied at the muscle insertion. All sensory discharges encoded the amplitude and rate of loading or muscle force. Stimulation of the receptors produced reflex effects in the depressor motoneurons that could reverse in sign during active movements. These data, in conjunction with findings of previous studies, support a model in which the trochanteral receptors function as an array that can detect forces in all directions relative to the intrinsic plane of leg movement. The array could provide requisite information about forces and simplify the control and adaptation of posture and walking.

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confidence: 99%

Force encoding in stick insect legs delineates a reference frame for motor control

Zill

Schmitz

Chaudhry

et al. 2012

Journal of Neurophysiology

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“…The first hexapods can be identified as robots based on a rigidly predetermined motion so that an adaptation to the ground was not possible. Early researches in the 1950s were focused on assigning the motion control completely by a human operator manually [11].…”

Section: Early Designsmentioning

confidence: 99%

Design Issues for Hexapod Walking Robots

2014

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Hexapod walking robots have attracted considerable attention for several decades. Many studies have been carried out in research centers, universities and industries. However, only in the recent past have efficient walking machines been conceived, designed and built with performances that can be suitable for practical applications. This paper gives an overview of the state of the art on hexapod walking robots by referring both to the early design solutions and the most recent achievements. Careful attention is given to the main design issues and constraints that influence the technical feasibility and operation performance. A design procedure is outlined in order to systematically design a hexapod walking robot. In particular, the proposed design procedure takes into account the main features, such as mechanical structure and leg configuration, actuating and driving systems, payload, motion conditions, and walking gait. A case study is described in order to show the effectiveness and feasibility of the proposed design procedure.

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“…can be found in [6][7][8][9][10][11]. Furthermore, good reviews of the literature have also been published in [12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Force Control Strategies in Hydraulically Actuated Legged Robots

Montes

Armada

2016

International Journal of Advanced Robotic Systems

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In this contribution, several strategies of force control have been proposed to be implemented and evaluated in ROBOCLIMBER, a quadruped robot of large dimensions. A first group of strategies proposed in this paper is based on impedance control, which is intended to adapt the footground contact forces according to the experimentally specified damping ratio and the undamped natural frequency. A second control strategy of interest for many practical cases is called the parallel force/position control, which has one inner loop position control and two external control loops, one of force and another of position. A third group of control strategies is the posture stabilization for ROBOCLIMBER using the feedback of the ZMP calculation and the position of its legs. Finally, a control strategy for the control of a quasi-static gait using ZMP feedback is proposed and tested by simulation.

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Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing

Cited by 10 publications

References 53 publications

Force encoding in stick insect legs delineates a reference frame for motor control

Force encoding in stick insect legs delineates a reference frame for motor control

Design Issues for Hexapod Walking Robots

Force Control Strategies in Hydraulically Actuated Legged Robots

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