Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks

Luo, Jianwen; Gong, Zelin; Su, Yao; Ruan, Lecheng; Zhao, Ye; Asada, H. Harry; Fu, Chenglong

doi:10.1109/lra.2021.3067850

Cited by 36 publications

(14 citation statements)

References 23 publications

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“…A majority of studies in turning gaits belong to the static gait planning with a slow walking speed because the gaits are optimized based on stability margin (SM) to ensure the balance ( Chen et al, 2017 ; Luo et al, 2021 ). SM is the shortest distance from the vertical projection of the CoM to any point on the boundary of the support polygon pattern.…”

Section: Gait and Center Of Mass Trajectory Planning For Spinning Locomotionmentioning

confidence: 99%

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

et al. 2021

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Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along the sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the center of mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate a stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with linear quadratic regulator (LQR) to bind the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs, and slopes.

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Section: Gait and Center Of Mass Trajectory Planning For Spinning Locomotionmentioning

confidence: 99%

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

et al. 2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…A majority of studies in turning gaits belong to the static gait planning with slow walking speed, because the gaits are optimized based on stability margin (SM) to ensure the balance [11], [32]. SM is the shortest distance from the vertical projection of the CoM to any point on the boundary of the support polygon pattern.…”

Section: B Com Planner Based On Projected Support Polygonmentioning

confidence: 99%

Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Zhu,

Wang,

Boyd

et al. 2021

Preprint

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Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the Center of Mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with Linear Quadratic Regulator (LQR) to bound the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs and slopes.

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“…Different types of SRL have been developed in recent years including the supernumerary robotic arms (SRAs) [3][4][5][6][7] mainly used to manipulate the target object when hands are occupied or the target objects are outside the range of human workplace, the supernumerary robotic legs [8][9][10][11][12][13] mainly used to assist human walking with load carriage or balance and stabilize the wearer, and the supernumerary robotic fingers [14][15][16][17][18][19] mainly used to enhance and compensate for the ability of hands. SRLs are controlled using different control methods including demonstration-based, [20,21] modelbased, [6,9,11,[22][23][24][25] manual, [5,26,27] limb mapping, [3,14,[28][29][30] and bioelectrical-based control. [15,18,[31][32][33] When the wearer performs tasks with the assistance of SRL, human movements lead to changes in the position and attitude of the robot base, which change the dynamics of the SRL, thus greatly increasing the difficulty of auxiliary operations.…”

Section: Introductionmentioning

confidence: 99%

Motion‐Compensation Control of Supernumerary Robotic Arms Subject to Human‐Induced Disturbances

Zhang,

Sui,

Jing

et al. 2024

Advanced Intelligent Systems

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Supernumerary robotic limbs (SRLs) are a novel type of wearable robot used as the third limb to assist the wearer to perform operations that are difficult or impossible for human hands. Although SRLs can compensate for and enhance human physiological abilities, the unpredictable disturbances caused by human movements significantly affect the coordinating control between the robot and wearer. In this study, a general modeling of supernumerary robotic arms (SRAs) on an omnidirectional floating base is presented. Using position and orientation feedback from sensors at the base and tip, three control methods based on different sensor feedback are proposed to improve tracking accuracy. Experiments on point and trajectory tracking are conducted on the SRAs. In the results (point and circular trajectory‐tracking errors with the manipulator as floating base: 1.18 ± 0.56 mm [mean ± standard deviation(SD) error] and 1.42 ± 0.43 mm, point trajectory‐tracking errors with the human shoulder as floating base: 1.37 ± 0.58 mm, and the performance in perforation positioning operation experiment), it is demonstrated that the proposed controllers enable the SRAs to achieve high‐precision tracking and good adaptability to different user movements and frequencies. Also, in the results, future studies on dynamic high‐precision manipulation of SRLs are motivated.

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Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks

Cited by 36 publications

References 23 publications

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Motion‐Compensation Control of Supernumerary Robotic Arms Subject to Human‐Induced Disturbances

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