Improving traversability of quadruped walking robots using body movement in 3D rough terrains

Loc, Vo-Gia; Koo, Ig Mo; Tran, Duc Trong; Park, Sangdoek; Moon, Hyungpil; Choi, Hyouk Ryeol

doi:10.1016/j.robot.2011.08.007

Cited by 29 publications

(12 citation statements)

References 23 publications

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“…Let L DF−CFF be the line joining a pair of points P DF and P CFF , and let L IFF−CHF be the line joining a pair of points P IFF and P CHF . According to the coordinate value of the points P DF , P CFF , P CHF and P IFF , the equations of the L DF−CFF and L IFF−CHF can be obtained as follow: (6) According to (6), the coordinate value of intersection point between the L DF−CFF and the L IFF−CHF , labeled P I ( P x I , P y I ), can be obtained by (7).…”

Section: B the Body Trajectory Planning Methodsmentioning

confidence: 99%

“…Chen et al [6] presented translational crawl and path tracking for a quadruped robot named TITAN-VIII, to walk on rough ground. Loc et al [7] presented a study on improving the traversability of a quadruped walking robot in 3D rough terrains. In these methods, terrain information are not taken into account in gait planning of quadruped robot.…”

Section: Introductionmentioning

confidence: 99%

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Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain

et al. 2019

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To enable quadruped robot to walk through unknown rough terrains without any machine vision system, a continuous static gait planning method is proposed in this paper. A algorithm for on-line terrain complexity evaluation according to touchdown times of swing feet is presented to make quadruped robot obtain the information of terrain without relying on machine vision system. Quadruped robot can obtain enough stability margin during walking process by using the proposed body trajectory planning method, and motion continuity of body can be guaranteed. In order to improve the terrain adaptability of quadruped robot, a tunable parameter is set in the body planning method, and the relationship between value of the tunable parameter and terrain complexity estimation is given to further improve terrain adaptability and energy utilization rate. With the proposed static gait generation method, quadruped robot can autonomous plan its static gait in real-time and travel over unknown rough terrains with enough stability margin. The simulation results show the correctness and effectiveness of the proposed method.INDEX TERMS Quadruped robot, static gait planning, estimation of terrain complexity, foot swing trajectory.

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Section: B the Body Trajectory Planning Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain

et al. 2019

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“…Today, there are a large number of active research programmes in the field of legged locomotion [27, 1, 9, 8, 15, 4, 22, 11, 2]. Apart from designing and building the robot itself, the main challenges are the planning and implementation of the legs' motions in generate a walking sequence, namely, how to plan the steps of the robot so that it moves in a desirable way while maintaining equilibrium constraints (quasi-static walking) or else maintaining the stability of the robot (dynamic walking).…”

Section: Introductionmentioning

confidence: 99%

“…Our goal is to present a simple, open-source, legged robot platform that will allow researchers to spend more of their time and funding on motion planning and less on robot design and construction. At present, many research groups develop their own robots for the testing and verification of algorithms and theories [16][17][18][19][20][21][22]. In most cases, the main subject of the research is not the robot itself but the locomotion theories involved.…”

Section: Introductionmentioning

confidence: 99%

A Novel Design of a Quadruped Robot for Research Purposes

Geva

Shapiro

2014

International Journal of Advanced Robotic Systems

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This paper presents the design of a novel quadruped robot. The proposed design is characterized by a simple, modular design, and easy interfacing capabilities. The robot is built mostly from off-the-shelf components. The design includes four 3-DOF legs, the robot body and its electronics. The proposed robot is able to traverse rough terrain while carrying additional payloads. Such payloads can include both sensors and computational hardware. We present the robot design, the control system, and the forward and inverse kinematics of the robot, as well as experiments that are compared with simulation results.

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“…Traditionally, wheeled robots or mechanisms are widely used in many situations, particularly in uneven terrain (Thueer and Siegwart, 2010, Vijay, et al, 2010, Pijuan, et al, 2012. An alternative to locomotion in rough terrain is walking robots and vehicles with legs in spite of the two major inherent shortcomings of complexity of control and high energy consumption (Estremera, et al, 2010, Loc, et al, 2011. A compromise can be made between standard wheeled vehicles and vehicles with legs (Guccione and Muscato, 2003).…”

Section: Introductionmentioning

confidence: 99%

Driving unit design and motion analysis for a spiral propulsion mechanism in wetlands

Liu

Hanajima

Kawauchi

et al. 2014

Mechanical Engineering Journal

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Environmental problems related to wetlands have attracted strong concern around the world during past decades. Mobile mechanisms of many kinds have been developed to satisfy demands of environmental investigation of wetlands. However, few researchers have studied spiral propulsion mechanisms. Our previous work showed that the spiral can move forward between gaps of plants, giving only very slight damage to plants. It is introduced to be used to carry measurement devices in wetlands when investigating the current state of wetlands. This paper addresses the development and performance analysis of spiral driving units, which rotate the spiral by gripping its circumference and moving it forward or backward. A method to analyze the attitude angle and traveling distance of the spiral without a center axle is proposed. The kinematic relations between the driving unit and spiral are established on the premise of data from a motion capture system. Experimental results for driving units of two kinds are discussed, with emphasis on attitude stability, technical feasibility, and repeatability. Results show that the proposed driving units can drive the spiral to rotate forward along the desired direction as expected.

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Improving traversability of quadruped walking robots using body movement in 3D rough terrains

Cited by 29 publications

References 23 publications

Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain

Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain

A Novel Design of a Quadruped Robot for Research Purposes

Driving unit design and motion analysis for a spiral propulsion mechanism in wetlands

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