Mechanical Performances of Typical Robot Feet Intruding into Sands

Han, Dianlei; Zhang, Rui; Zhang, Hua; Hu, Zhenyu; Li, Jianqiao

doi:10.3390/en13081867

Cited by 7 publications

(5 citation statements)

References 30 publications

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“…When the foot is too soft (E. Double 8), the deformations are so large that the projected surface area of the foot decreases significantly and the pressure is higher, causing failure of the mud. This new finding adds to previous findings relating to the shape of the foot [26] for determining the intrusion force. When a robot is intended to walk on soft grounds attention should be paid to foot stiffness.…”

Section: Stiffness Of the Foot Matterssupporting

confidence: 73%

“…Also, our experiments used the same soil in which the water content was varied. Interestingly, the force/sinkage relationship for intrusion is similar to that observed in sand [26], [11], loams, and muskegs [5] (linear or power function with a power close to one). However, it seems that the suction force is a particularity of mud.…”

Section: G Generalizabilitymentioning

confidence: 59%

“…[25] analyzed the cost of transport (CoT) and velocity of two gaits in a fluidized sand bed and found that retracting the leg out of the flowable material was the most effective and efficient way of running. [26] suggests that using a circular, flat-bottomed foot on sand enables to reach higher force. For these reasons, in our experiment, we will use flat-bottomed, circular feet.…”

Section: Related Workmentioning

confidence: 99%

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An Insight on Mud Behavior Upon Stepping

Godon

Ristolainen

Kruusmaa

2022

IEEE Robot. Autom. Lett.

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In this research we show a characterization of mud behavior under vertical stepping. We showed that mud stiffness can vary 45-fold and the energy spent to generate equivalent impulse can vary 2-fold depending on the mud water content, but also that stepping faster on mud leads to lower peak forces and higher energy consumption. Next, we showed that the peak force generated can be increased by 33% by changing the foot stiffness, but is reduced by 18% if stepping is repeated on the same spot. We then demonstrated how force control can be used to achieve identical force profiles on very different muds. These results will help to design mechanical parts or control strategies for legged robot locomotion on mud.

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Section: Stiffness Of the Foot Matterssupporting

confidence: 73%

Section: G Generalizabilitymentioning

confidence: 59%

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

An Insight on Mud Behavior Upon Stepping

Godon

Ristolainen

Kruusmaa

2022

IEEE Robot. Autom. Lett.

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“…By analyzing the kinetic energy of the disturbed particles, the power required for soil cutting can be obtained indirectly, which can be used to evaluate the digging performance of the bear claw bionic shovel (see Figure 7) [45]. Based on the velocity field, by analyzing the sinking performance and resistance of the tools in the sand, the structure and parameters of the tool can be optimized [37][38][39]. The contact models such as elastic HMCM and plastic HSCM are usually used to analyze the velocity field of soil particles under the action of tools [40].…”

Section: Analysis Of Velocity Fieldmentioning

confidence: 99%

Review of the Research on Soil Disturbance by Tools

et al. 2022

Self Cite

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The discrete element method can be used to analyze the interaction between tools and soil. It can be used to guide the optimal design of tools, but the appropriate simulation and test method selected is important to achieve the goal. This paper mainly introduces the disturbance of soil by tillage tools. The disturbance of the soil by tools include soil loosening, soil movement, and soil mixing. The disturbance contour is used to visually display the disturbance results, and the cross-sectional area, lateral soil throwing amount, ditch ridge height, ditch width, and ditch backfill are used to characterize the cross-sectional shape. Tracers are usually used to track soil particles to visually display the particle movement path during disturbance; this can be used to study the soil disturbance trend by the tools. When parameters and models are appropriate, the movement and contact of microscopic soil particles can be accurately simulated. By comparing the particle behavior of simulation and experiment, the contact model and contact parameters can be verified. The method introduced provides a reference for the optimal design of the tools and the research of disturbance by the tools.

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“…In this section, the data in the references regarding the structure, actuation, and control of the prosthetic knee joint are quantitatively analyzed in depth. Because the structural parameters, actuation parameters, and control parameters of the prosthetic knee joint in each reference are not uniform, and the implementation schemes and effects of various prosthetic knee joints are also different, this paper adopted some typical comparative analysis method [67][68][69] and evaluated the performance indices of the introduced structures, actuation, and control of the prosthetic knee joint.…”

Section: Development Status Of the Robotic Knee Prosthesismentioning

confidence: 99%

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Sun

Tang

et al. 2021

J Bionic Eng

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As the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

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Mechanical Performances of Typical Robot Feet Intruding into Sands

Cited by 7 publications

References 30 publications

An Insight on Mud Behavior Upon Stepping

An Insight on Mud Behavior Upon Stepping

Review of the Research on Soil Disturbance by Tools

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

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