Gait and trajectory rolling planning and control of hexapod robots for disaster rescue applications

Deng, Hua; Xin, Guiyang; Zhong, Guoliang; Mistry, Michael

doi:10.1016/j.robot.2017.05.007

Cited by 48 publications

(29 citation statements)

References 40 publications

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“…The MIT-Cheetah [13] imposed a gait-pattern modulator and a leg-trajectory generator consisting of Bezier curve and a tunable amplitude sinusoidal wave, where the proprioceptive impedance control is employed in individual low-level leg controllers. Another position controller for parallel robot [14] utilized the position impedance control to achieve smooth contact with environment, which is combined with Kalman filter to predict stability margin of robots inside ZMP stability observer. Especially for a uncertain terrain, it is difficult to obtain a specific model when the environment stiffness and location are unknown.…”

Section: Introductionmentioning

confidence: 99%

Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

Guo

Wang

Yue

et al. 2020

Preprint

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Serving Stewart plat as wheel-legged construction, the most outstanding superiority of proposed wheel-legged hybrid robot (WLHR) is active vibration isolation during rolling on rugged terrain. This paper presents a force-driven control approach based on model predictive control (MPC) to design optimal control input for Stewart parallel wheel-leg that locomotes using swing foot trajectory. Adding adaptive impedance control in outermost loop, controlling framework prevents robot body horizontal and from vibration over rolling motion. Through dynamic model of Stewart mechanism, controller first creates predictive model by combining Newton-Euler equation, Newton-Raphson iteration of forward kinematic solving for current configuration, inverse kinematic calculation of Stewart obtaining desired joint position, and Gain/Integration module determining reference torque. With minimizing control deviation and input as objective function, a novel control optimization formulation generates optimum input for each control duration. These actuating force naturally enables each strut stretching and retracting used to realize six degree-of-freedom (6DOF) motion for Stewart wheel-leg. We exploit the variable-adapting method to reasonably adjust environmental impedance parameters by current position, velocity, force feedback of wheel-leg. This allow us to adequately acknowledge the desired support force tracking, isolating robot from isolation that is generated from unknown terrain. We demonstrate the validation of our control methodology on physical prototype by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strip. Respectively given PI controller and a sort of traditional impedance controller as comparison, a better performance of proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder, as well as IMU mounted on robot body.

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Section: Introductionmentioning

confidence: 99%

Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

Guo

Wang

Yue

et al. 2020

Preprint

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“…Deng et al [16] proposed a new control strategy based on rolling gait and trajectory planning, which enables hexapod robot to walk through dynamic environments. The core point of this control strategy was to constantly change gait and trajectory according to different environments and tasks as well as stability state of robot.…”

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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“…Numerous studies on walking insect robots have been reported . The most dominant motivation for studying the mobile robots is to give access to places that are hazardous and inaccessible for human beings.…”

Section: Introductionmentioning

confidence: 99%

“…Numerous studies on walking insect robots have been reported. [1][2][3][4][5] The most dominant motivation for studying the mobile robots is to give access to places that are hazardous and inaccessible for human beings. To improve the performance of the walking robots, the physical structure of legged insects and animals was imitated and the relevant biological concepts were applied to their design.…”

Section: Introductionmentioning

confidence: 99%

High spatial resolution magnetic resonance imaging of insects covered with a hard exoskeleton

Seo¹

2018

Concepts Magn Reson

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The morphological investigation of insects is usually performed using histologic serial sections and subsequent reconstruction of the structures from these sections. The achievement of cross sections for microtomy is time‐consuming and the risk of damaging sections is inevitable. Recently, X‐ray computed tomography (micro‐CT) was used to provide adequate spatial resolution without destroying the specimens. Micro‐CT is limited by the low x‐ray contrast of the insect soft tissues and image quality is relatively poor. Magnetic resonance imaging (MRI) allows the study of morphologic classification of the insects with sufficient spatial resolution and provides a noninvasive mean to determine disease abnormalities and progression in vivo and longitudinally. The morphologic classification of the insects with sufficient spatial resolution analyzed the potential of MR imaging. However, a stag beetle has a particularly hard exoskeleton protecting internal organs and nerves. It is challenge to obtain high spatial resolution images using MRI. The aim of this study was to characterize optimal MRI protocols for the investigation of stag beetles and to evaluate the morphologic characterization of the stag beetles by a 9.4 T MRI scanner. In this study, MR imaging provided the spatial resolution necessary for the examination of morphologic structures of the insects on our hardware‐software platform. This study plays a significant role in providing the high spatial resolution, ideally required for routine application to the study of internal morphology of insects, arachnids and crustaceans whose organs, nerves and muscles are protected by the hard exoskeleton.

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Gait and trajectory rolling planning and control of hexapod robots for disaster rescue applications

Cited by 48 publications

References 40 publications

Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

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

High spatial resolution magnetic resonance imaging of insects covered with a hard exoskeleton

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