Model-Based Experimental Development of Passive Compliant Robot Legs from Fiberglass Composites

Lin, Shang-Chang; Hu, Ching-Piao; Shih, Wen‐Pin; Lin, Pei-Chun

doi:10.1155/2015/754832

Cited by 3 publications

(2 citation statements)

References 28 publications

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“…The deformation of point C is assumed toward the direction of the normal force (see Figure 5). Lin et al adopted similar assumptions and verified it by experiments when studying the controlled stiffness fabrication method for compliant legs (Lin et al , 2015), δ depicts the deflection displacement, and it is expressed as: …”

Section: Robot Modelmentioning

confidence: 99%

Optimization-based hexapod robot locomotion generation

Liu

Qiao

et al. 2022

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Purpose The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the complexity of locomotion design, shorten time of design and generate efficient and accurate motion. Design/methodology/approach The authors generated locomotion for the hexapod robot based on trajectory optimization method and it just need to specify the high-level motion requirements. Here the authors first transcribed the trajectory optimization problem to a nonlinear programming problem, in which the specified motion requirements and the dynamics with complementarity constraints were defined as the constraints, then a nonlinear solver was used to solve. The leg compliance was taken into consideration and the generated motions were deployed on the hexapod robot prototype to prove the utility of the method and, meanwhile, the influence of different environments was considered. Findings The generated motions were deployed on the hexapod robot and the movements were demonstrated very much in line with the planning. The new planning method does not require lots of parameter-tuning work and therefore significantly reduces the cycle for designing a new locomotion. Originality/value A locomotion generation method based on trajectory optimization was constructed for a 12-degree of freedom hexapod robot. The variable stiffness compliance of legs was considered to improve the accuracy of locomotion generation. And also, different from some simulation work before, the authors have designed the locomotion in three cases and constructed field tests to demonstrate its utility.

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Section: Robot Modelmentioning

confidence: 99%

Optimization-based hexapod robot locomotion generation

Liu

Qiao

et al. 2022

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“…Ding et al [3] summarized the main shapes of foot: (1) flat, for increasing the contact area, such as TITAN [4]; (2) cylindrical, spherical or cambered, including crab-like robot Bigdog [5], SILO 6 [6], fits for multi-freedom legs; and (3) irregular shape. After millions of years of adaptation in the natural environment, animal legs have evolved and diversified their leg morphology into various forms [7], with feet of various shapes and functions to adjust to complex terrains [8]. Thus, more and more feet of legged vehicles are beyond the traditional shape, such as the "C" leg of RHex [9] and Sandbot [10,11].…”

Section: Introductionmentioning

confidence: 99%

Bionic Walking Foot and Mechanical Performance on Soil

Wang

et al. 2017

Applied Sciences

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Abstract:The surface structure of the Chinese mitten crab dactylopodite was investigated. The results indicated that the Chinese mitten crab dactylopodite has grooves with variable section structure on the surface of dactylopodite for achieving good traveling behavior on soft terrain. Surface structure plays a key role in the walking performance of the leg mechanism. Based on the bionics coupling theory, three bionic walking feet with different section shapes, including circular (Bio 1), circular with grooves (Bio 2), hexagon (Bio 3) and a cylinder foot used for comparison on the aluminum alloy, were designed and fabricated successfully. Meanwhile, comparative experiments on intrusion, extraction and propulsion for walking feet were conducted on different soil. Experimental results show that a bionic walking foot reduced the energy consumption of insertion and extraction, which topped out to 93.95% and 92.78% of cylinder foot, and Bio 2 behaves better. Propulsion is closely correlated with intrusion depth; therefore, compared with cylinder foot, the sinkage of a bionic walking foot helps to achieve a larger propulsion force with the same pressure. Furthermore, the proper depth in balancing the sinkage and propulsion was discussed, which enables us to optimize the structure and performance of a walking foot.

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A bandgap switchable elastic metamaterial using shape memory alloys

Chuang

Wang

2019

Journal of Applied Physics

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Adaptive elastic metamaterials are generally tunable but not switchable. Here, the word “switchable” means switching between different bandgap mechanisms, such as from the local resonance bandgaps to the Bragg scattering bandgaps and vice versa. In this work, to achieve switchable bandgaps, we report a new class of elastic metamaterials whose transmission properties can be significantly tuned by curved two-way shape memory alloy (SMA) resonators. The proposed switchable metamaterial possesses bandgaps capable of being switched back and forth between the Bragg scattering and localized resonance ones. Without thermally activating the curved SMA resonators, the metamaterial beam behaves as a phononic crystal beam whose bandgaps are formed by a periodic array of concentrated masses. By heating the SMAs, the SMAs recover their original curved shape and lift the concentrated masses to form the local resonance bandgaps. The reversible dramatic variation in shape and the stiffness of the SMA resonators allows the bandgaps to be switchable and of course tunable. In addition, the equivalent spring stiffness of a curved beam at two possible directions for the first two modes is derived based on Castigliano's second theorem and is experimentally validated. Compared to SMA springs, the curved shape SMAs allow the generation of high-order local resonance bandgaps. If thermally activated at different temperatures, the negative effective mass density can further be tunable. To the author's knowledge, this work is the first theoretical and careful experimental investigation realizing switchable metamaterials using the two-way shape memory alloys.

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Model-Based Experimental Development of Passive Compliant Robot Legs from Fiberglass Composites

Cited by 3 publications

References 28 publications

Optimization-based hexapod robot locomotion generation

Optimization-based hexapod robot locomotion generation

Bionic Walking Foot and Mechanical Performance on Soil

A bandgap switchable elastic metamaterial using shape memory alloys

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