Low Impact Force and Energy Consumption Motion Planning for Hexapod Robot with Passive Compliant Ankles

Gao, Haibo; Liu, Yu-Fei; Ding, Liang; Liu, Guangjun; Deng, Zongquan; Liu, Yiqun; Yu, Haitao

doi:10.1007/s10846-018-0828-2

Cited by 20 publications

(11 citation statements)

References 30 publications

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“…For the transfer legs, to reduce the impact, two aspects should also be taken into consideration: one is that the velocity at the posterior extreme position (PEP) and anterior extreme position (AEP) is 0; the other is that there is no jump in the acceleration curve [27]. The motion of the transfer phase can be divided into two directions, namely, longitudinal and vertical motion.…”

Section: Trajectory Planning Of the F-tt Gaitmentioning

confidence: 99%

Fault-Tolerant Tripod Gait Planning and Verification of a Hexapod Robot

et al. 2020

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In some hazardous or inaccessible applications, such as earthquake rescue, as a substitute for mankind, robots are expected to perform missions reliably. Unfortunately, the failure of components is difficult to avoid due to the complexity of robot composition and the interference of the environment. Thus, improving the reliability of robots is a crucial problem. The hexapod robot has redundant degrees of freedom due to its multiple joints, making it possible to tolerate the failure of one leg. In this paper, the Fault-Tolerant Tripod (F-TT) gait dealing with the failure of one leg is researched. The Denavit–Hartenberg (D-H) method is exploited to establish a kinematic model for the hexapod robot, the Jacobian matrix is analyzed, and it is proved that the body can be controlled when three legs are supported. Then, an F-TT gait phase sequence planning method based on a stability margin is established, and a method to improve stability is proposed. The trajectory for the center of gravity (COG) and foot is studied. Finally, a simulation model and prototype robot experiments are developed, and the effectiveness of the proposed method is verified.

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Section: Trajectory Planning Of the F-tt Gaitmentioning

confidence: 99%

Fault-Tolerant Tripod Gait Planning and Verification of a Hexapod Robot

et al. 2020

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“…Simulation, design, and control of six-legged robots are still a current research field, attracting many researchers in recent years (12,(19)(20)(21)(22) . While many unmanned robots are already used practically in the real world environment, further research is required for bringing six-legged robots in the real-world applications (12) .…”

Section: Literature Reviewmentioning

confidence: 99%

“…While many unmanned robots are already used practically in the real world environment, further research is required for bringing six-legged robots in the real-world applications (12) . Desirable optimization, for this aim, includes reduction of acceleration of foot landing, the variation of the trunk body velocity (20) , energy consumption (22) , increasing stability (23) , gait adaptation (24) , etc. An important drawback of the six-legged robots is that they need numerous actuators and sensors.…”

Section: Literature Reviewmentioning

confidence: 99%

Dynamic simulation and design of a simple hexapod robot

Alshammari¹

2020

IJST

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Background/Objectives: For motions in off-road navigation, including sandy or wet natural environments and space explorations legged machines, mimicking anatomy of legged animals are efficient. However, the traditional full-actuated legged robots are heavy with complex actuation and control systems, as for each degree of freedom separate actuator is used. The purpose of this work is to develop a kinematic model using a single-actuator for hexapod legged robot taking advantage of bio-inspiration and mechanism design techniques. Methods/Statistical analysis: A vector analysis method was used for measuring the system kinematics equations. The simulation of the walking process was performed using MATLAB. A real prototype of the system has been fabricated based on the design, which is not bulky due to use of single motor, and does not require complex control and sensor systems. Findings: Simulations showed that the kinematic model along with the hypothesis on the ground interaction describes the locomotion, which can be used where robots with low-speed repositioning are required. Theoretical analysis, virtual prototype simulations, as well as initial experiments with the physical prototype, showed an efficient functionality of the system. Novelty/Applications: The design and kinematic model can be used for developing low-energy environmental robots for remote areas with occasional relocation requirements. Keywords: Biomimetic environmental robot; kinematic analysis; mechanism design; tripod gait; walking mechanism

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“…Grzelczyk et al [17] compared the central pattern generator (CPG) models from the viewpoint of fluctuations of the robot gravity center both in vertical and movement direction, contact forces between the robot legs and the ground as well as energy demand of the whole robot during the walking process. Gao et al [18] present a method to minimize the impact force and energy consumption effectively by providing an integrated strategy of motion planning subject to velocity and acceleration constraints. And the total power consumption of the hexapod using tripod gait with the LIFEC method reduces approximately by 14%.…”

Section: Introductionmentioning

confidence: 99%

Planning and Analysis of Centroid Fluctuation Gait for Hydraulic Hexapod Robot[−2pt]

et al. 2021

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Energy consumption is an important comprehensive index of the hydraulic hexapod robot (HHR). In this paper, the kinematics model and the hydraulic system energy consumption model of HHR are established. In order to reduce the energy consumption, a centroid fluctuation gait that adds the movement of the centroid in the vertical direction is proposed. Then the gait parameters such as step length, gait cycle, average centroid height, centroid fluctuation height, and phase that influence the energy consumption are studied which could provide a theoretical basis for parameter optimization. In the same gait parameters, compared with using constant height gait, the energy consumption of HHR using centroid fluctuation gait is generally reduced, and the maximum energy saving can be more than 10%. Finally, a virtual prototype is used to verify the effectiveness of the proposed methods.

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Low Impact Force and Energy Consumption Motion Planning for Hexapod Robot with Passive Compliant Ankles

Cited by 20 publications

References 30 publications

Fault-Tolerant Tripod Gait Planning and Verification of a Hexapod Robot

Fault-Tolerant Tripod Gait Planning and Verification of a Hexapod Robot

Dynamic simulation and design of a simple hexapod robot

Planning and Analysis of Centroid Fluctuation Gait for Hydraulic Hexapod Robot[−2pt]

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