Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators

Grzelczyk, Dariusz; Szymanowska, Olga; Awrejcewicz, Jan

doi:10.1177/0959651818800187

Cited by 14 publications

(17 citation statements)

References 51 publications

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“…Aside from computing crucial kinematic parameters of the robot, also time histories of the robot's dynamic locomotion parameters have been illustrated and discussed. The obtained dynamic parameters confirmed some advantages of the proposed SINE generator previously presented in paper [7]. Concluding, it should be mentioned that the proposed SINE generator is relatively simple in comparison with other control methods found in the literature.…”

Section: A Brief Summary Of Our Chosen Previous Studies Related To Wasupporting

confidence: 82%

“…On the contrary to the abovementioned papers, in Ref. [7], a new model of an octopod (eight-legged) robot has been developed and numerically simulated in order to investigate crucial kinematic parameters during locomotion with the tetrapod gait, i.e., similar gait as the tripod gait used in hexapod robots. Another wellknown CPG model has also been used (i.e., CPG model constructed based on the Toda-Rayleigh lattice).…”

Section: A Brief Summary Of Our Chosen Previous Studies Related To Wamentioning

confidence: 99%

“…Numerical investigations of the octopod robot and a novel gait generator introduced in the paper [7] have been significantly extended in Ref. [8].…”

Section: A Brief Summary Of Our Chosen Previous Studies Related To Wamentioning

confidence: 99%

“…Numerical investigations of the octopod robot and a novel gait generator introduced in the paper [7] have been significantly extended in Ref. [8]. Aside from computing crucial kinematic parameters of the robot, also time histories of the robot's dynamic locomotion parameters have been illustrated and discussed.…”

Section: A Brief Summary Of Our Chosen Previous Studies Related To Wamentioning

confidence: 99%

“…A literature review summarized in our previous papers [4][5][6][7][8][9][10][11] indicate that investigations of different types of walking machines are still challenging and focus the attention of numerous researchers. The control possibilities can be especially helpful in a natural environment of the robot, when it comes to both the navigation and obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

Grzelczyk¹,

Awrejcewicz²

2020

Dynamical Systems Theory

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In this chapter, we developed and investigated numerically a general kinematic model of a multi-legged hybrid robot equipped with a crab-like and/or mammallike legs. To drive the robot's limbs, a novel generator of gait was employed and tested. The simulation model developed in Mathematica is suitable for virtual study and visualization of the locomotion process. In contrast to our previous papers, in this study we focused especially on precise control of the position of the robot during walking in different directions. In our study we were able to simultaneously control all six spatial degrees of freedom of the robot's body, as well as all the robot's legs. Therefore, the investigated robot can be considered and used as a fully controlled walking Stewart platform. What is more, the used algorithm can also be successfully employed to coordinate and control all limbs of the robot on unstable or vibrating ground. As an example, it can be used to stabilize spatial position of the robot when the supporting ground becomes vibrating or unstable, and it will keep the robot stable and prevent it from falling over. Eventually, the developed simulation algorithms can be relatively simply adopted to control real constructions of different multi-legged robots.

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Section: A Brief Summary Of Our Chosen Previous Studies Related To Wasupporting

confidence: 82%

Section: A Brief Summary Of Our Chosen Previous Studies Related To Wamentioning

confidence: 99%

“…Numerical investigations of the octopod robot and a novel gait generator introduced in the paper [7] have been significantly extended in Ref. [8].…”

Section: A Brief Summary Of Our Chosen Previous Studies Related To Wamentioning

confidence: 99%

Section: A Brief Summary Of Our Chosen Previous Studies Related To Wamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

Grzelczyk¹,

Awrejcewicz²

2020

Dynamical Systems Theory

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Generation of a gait pattern for a lower limb rehabilitation exoskeleton

Jarzyna

Grzelczyk

Stańczyk

et al. 2020

Mechanics Based Design of Structures and Machines

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Bio-inspired design of hard-bodied mobile robots based on arthropod morphologies: a 10 year systematic review and bibliometric analysis

Cornejo,

Sierra-Garcia,

Gomez-Gil

et al. 2024

Bioinspir. Biomim.

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This research presents a 10-year systematic review based on bibliometric analysis of the bio-inspired design of hard-bodied mobile robot mechatronic systems considering the anatomy of arthropods. These are the most diverse group of animals whose flexible biomechanics and adaptable morphology, thus, it can inspire robot development. Papers were reviewed from two international databases (Scopus and Web of Science) and one platform (Aerospace Research Central), then they were classified according to: year of publication (January 2013 to April 2023), arthropod group, published journal, conference proceedings, editorial publisher, research teams, robot classification according to the name of arthropod, limb’s locomotion support, number of legs/arms, number of legs/body segments, limb’s degrees of freedom, mechanical actuation type, modular system, and environment adaptation. During the screening, more than 33000 works were analyzed. Finally, a total of 174 studies (90 journal-type, 84 conference-type) were selected for in-depth study: Insecta - hexapod (53,8%), Arachnida - octopods (20.7%), Crustacea - decapods (16,1%), and Myriapoda – centipedes and millipedes (9,2%). The study reveals that the most active editorials are the Institute of Electrical and Electronics Engineers Inc., Springer, MDPI, and Elsevier, while the most influential researchers are located in the USA, China, Singapore, and Japan. Most works pertained to spiders, crabs, caterpillars, cockroaches, and centipedes. We conclude that “arthrobotics” research, which merges arthropods and robotics, is constantly growing and includes a high number of relevant studies with findings that can inspire new methods to design biomechatronic systems.

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Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators

Cited by 14 publications

References 51 publications

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

Generation of a gait pattern for a lower limb rehabilitation exoskeleton

Bio-inspired design of hard-bodied mobile robots based on arthropod morphologies: a 10 year systematic review and bibliometric analysis

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