Gait Design and Modeling of a 12-Tetrahedron Walker Robot

Abrahantes, Miguel; Silver, A.; Wendt, L.

doi:10.1109/ssst.2007.352310

Cited by 20 publications

(9 citation statements)

References 2 publications

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“…In [10], the authors developed a gait planning method for a 12-tetrahedral robot and proposed three types of gait planning procedures. Although the proposed method provided important references for the gait planning problem, its simplified geometrical computation can only be used in a reduced model.…”

Section: Control Commandsmentioning

confidence: 99%

“…In [7, 8, 9], the authors designed and analysed gaits for a 4-, 6-, and 8-tetrahedral robot based on a simulating walker model. Specifically, in [10], the authors developed a gait planning method for a 12-tetrahedral robot and proposed three types of gait planning procedures. Although the proposed method provided important references to the gait planning problem, its simplified geometrical computation can only be used by the reduced model.…”

Section: Introductionmentioning

confidence: 99%

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Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot

Wang

Zhang

et al. 2016

International Journal of Advanced Robotic Systems

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The 12-tetrahedral robot is an addressable reconfigurable technology (ART)-based variable geometry truss mechanism with 26 extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of configuring its shape to adapt to environmental requirements, which makes it suitable for space exploration. This paper considers the motion planning problem for the robot in terms of gait planning and trajectory planning. First, a gait planning method is developed that limits the forward falling angles to only 25 degrees. Then, according to the given gait, the jerk-bounded method and inverse kinematics are utilized to calculate the trajectories of the nodes and the struts, respectively. A robot system model was built in ADAMS and simulations were conducted to demonstrate the feasibility of the motion planning method.

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Section: Control Commandsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot

Wang

Zhang

et al. 2016

International Journal of Advanced Robotic Systems

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“…Figure 14 shows the stable states of whole process of the dynamic simulation in the rolling experiment. The corresponding (1), gait (d) to (2), gait (g) to (3), gait (j) to (4), gait (m) to (5), gait (p) to (6), gait (s) to (7), gait (t) to (8).…”

Section: Dynamic Simulation and Prototypementioning

confidence: 99%

“…Zhang et al [3] adopted the combination of string, track-thread wheel, pulley and motor to obtain the large extension ratio in the tetrahedral rolling robot. Abrahantes et al [4,5] built the mathematical model and designed the gaits of 4-tetrahedron and 12-tetrahedron walker robot which are comprised of single tetrahedron unit. The advantage of these tetrahedron based mobile mechanisms lie in their powerful extension and deformation capability.…”

Section: Introductionmentioning

confidence: 99%

A pneumatic cylinder driving polyhedron mobile mechanism

2012

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A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper. The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge. It locomotes by rolling and the rolling principle refers to the center of mass (CM) of the mechanism moved out of the supporting area and let it tip over through the controlling of the motion sequence of these cylinders. Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism. Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism. After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits. At last, a prototype is fabricated to achieve the rolling successfully to demonstrate the proposed concept.

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“…In [11][12][13], the authors planned gaits for 4-, 6-, and 8-tetrahedral robots based on a simulating walker model. In [14], the authors developed a gait planning method for a 12-tetrahedral robot, and proposed three kinds of gait planning procedures using simplified geometrical computation. In [15,16], the authors proposed a motion planning strategy and the toppling condition for a single robot based on its kinematics.…”

Section: Introductionmentioning

confidence: 99%

Dynamical Modelling and a Decentralized Adaptive Controller for a 12-Tetrahedral Rolling Robot

Wang

Zhang

2018

TFAMENA

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SummaryThe 12-tetrahedral robot is an addressable reconfigurable technology (ART)-based variable geometry truss mechanism with twenty-six extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of reconfiguring shape and dimension for environment sensing requirements, which makes it suitable for space exploration and environmental perception. In this paper, we have derived a dynamics model and presented a decentralized adaptive controller for a 12-tetrahedral robot. First, the robot is divided into the node and the strut subsystems, and the kinetic and the potential energy are calculated for the two subsystems. Then, the dynamics model is achieved by applying the Lagrangian formalism on the total energy of the robot. Since the dynamics is too complicated for implementing model-based controllers, a two-layer controller is presented to control the robot, in which the planning layer determines gait and trajectory of the robot, and the executive layer adopts the decentralized adaptive control strategy and consists of twenty-six strut controllers. Each strut controller regulates the movement of the corresponding strut without information exchange with other struts. Co-simulations based on ADAMS and Matlab have been conducted to verify the feasibility and effectiveness of the proposed controller.

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Gait Design and Modeling of a 12-Tetrahedron Walker Robot

Cited by 20 publications

References 2 publications

Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot

Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot

A pneumatic cylinder driving polyhedron mobile mechanism

Dynamical Modelling and a Decentralized Adaptive Controller for a 12-Tetrahedral Rolling Robot

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