Modeling and Analysis of Flexible Foot Vibration of Multi-Foot Bionic Robot

Zhang, Lei; Li, Ang; Gao, Zenghui

doi:10.1109/robio49542.2019.8961702

Cited by 3 publications

(2 citation statements)

References 8 publications

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“…There was no difference in the average peak pressure pattern and COP trajectory between different species of elephants. Zhang [27] took the goat hoof as a bionic prototype and studied the dynamic morphological characteristics by using the size, direction, and area of plantar pressure during goat movement. The goat's plantar was divided into six regions according to the characteristic parts, and the size and distribution characteristics of the plantar pressure of the goats under different movement modes were analyzed.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Mechanical Properties of Functional Parts of Goat Hoofs under Multi-Slope

Zhang,

Wang,

Cui

et al. 2024

Agriculture

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In order to improve the adhesive and passing performance of agricultural tracked vehicles under a non-structural environment, a theoretical design method of the structure of a bionic track pattern is proposed in this article. The Saanen goat is taken as the experimental subject, and the hoof tips and hoof spheres are taken as the characteristic functional parts, whose pressure is measured by thin film pressure sensors. The Qualisys Track Manager (QTM) gait analysis system was used to obtain the gait sequence of goats under multi-slope. The changes in vertical ground reaction force (GRF) and vertical impulse (VI) of the hoof tips and spheres and adhesion coefficient under multi-slope were analyzed. The results show that with the increase in slope, the GRF is transferred from the left hind hoof to the right front hoof, and the right front hoof has the most significant effect. Under the 10-degree slope, the peak vertical GRF and VI of the inner tip of the right front hoof are the largest; peak vertical GRF is 146.20 N, and VI is 127.67 N·s. The adhesion coefficient is the largest; the right front and left hind hoof are in the diagonal two-phase supported state, and μ is 0.3455. Therefore, the inner tip of the right front hoof is used as a bionic prototype to design the track pattern architecture. It provides a theoretical basis for the design and optimization of bionic patterns applied to agricultural tracked vehicles.

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Section: Introductionmentioning

confidence: 99%

Analysis of Mechanical Properties of Functional Parts of Goat Hoofs under Multi-Slope

Zhang,

Wang,

Cui

et al. 2024

Agriculture

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“…The quadruped robot is flexible to run on various regions with its optimized supporting structure and traction, decoupling the robot foot and the ground [1]. Currently, bionic quadruped robot with its stability and carrying capacity is more suitable than the biped ones and is more controllable and less complicated than the hexapod and eight-legged ones [3]- [6]. Therefore, the quadruped robot is an optimum selection with its flexibility, swiftness, bearing capacity etc.…”

Section: Introductionmentioning

confidence: 99%

Gait Programming of Quadruped Bionic Robot

Li¹,

Jia²,

Lee³

et al. 2021

J Multimed Inf Syst

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Design of a Parallel Quadruped Robot Based on a Novel Intelligent Control System

Liu

Wang

et al. 2022

Applied Sciences

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In order to make a robot track a desired trajectory with high precision and steady gait, a novel intelligent controller was designed based on a new mechanical structure and optimized foot trajectory. Kinematics models in terms of the D-H method were established to analyze the relationship between the angle of the driving joint and the foot position. Inspired by a dog’s diagonal trot on a flat terrain, foot trajectory planning in the swing and support phases without impact were fulfilled based on the compound cycloid improved by the Bézier curve. Both the optimized cascade proportional–integral–derivative (PID) control system and improved fuzzy adaptive PID control system were applied to realize the stable operation of a quadruped robot, and their parameters were optimized by the sparrow search algorithm. The convergence speed and accuracy of the sparrow search algorithm were verified by comparing with the moth flame optimization algorithm and particle swarm optimization algorithm. Finally, a co-simulation with MATLAB and ADAMS was utilized to compare the effects of the two control systems. The results of both displacement and velocity exhibit that the movement of a quadruped bionic robot with fuzzy adaptive PID control systems optimized by the sparrow search algorithm possessed better accuracy and stability than cascade PID control systems. The motion process of the quadruped robot in the co-simulation process also demonstrates the effectiveness of the designed mechanical structure and control system.

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Modeling and Analysis of Flexible Foot Vibration of Multi-Foot Bionic Robot

Cited by 3 publications

References 8 publications

Analysis of Mechanical Properties of Functional Parts of Goat Hoofs under Multi-Slope

Analysis of Mechanical Properties of Functional Parts of Goat Hoofs under Multi-Slope

Gait Programming of Quadruped Bionic Robot

Design of a Parallel Quadruped Robot Based on a Novel Intelligent Control System

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