Motion Planning for Ricochetal Brachiation Locomotion of Bio-primitive Robot

Cheng, Hongtai; Rui, Chongjie; Hao, Lina

doi:10.1109/cyber.2017.8446417

Cited by 8 publications

(3 citation statements)

References 18 publications

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“…To make small robots faster, Brachiation locomotion is preferred through step-by-step swinging of the main body like a monkey or a pendulum [8]. Continuous Contact Brachiation [9] and Ricochetal Brachiation [10] have a great flexibility to jump from one place to another. This kind of locomotion is not applicable to the intended application, due to the lack of space for the take-off phase and the difficulty of switching phases.…”

Section: Related Workmentioning

confidence: 99%

BogieBot: A Climbing Robot in Cluttered Confined Space of Bogies with Ferrous Metal Surfaces

Adinehvand

Asadi

Lai

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Proactive inspection is essential for prediction and prevention of rolling stock component failures. The conventional process for inspecting bogies under trains presents significant challenges for inspectors who need to visually check the tight and cluttered environment. We propose a miniature multi-link climbing robot, called BogieBot, that can be deployed inside the undercarriage areas of trains and other large vehicles for inspection and maintenance purposes, for the first time. BogieBot can carry a visual sensor or manipulator on its main body. The novel compact design utilises six identical couple joints and two mechanically switchable magnetic grippers that together, empower multi-modal climbing and manipulation. The proposed mechanism is kinematically redundant, allowing the robot to perform self-motions in a tight space and manoeuvre around obstacles. The mechanism design and various analyses on the forward and inverse kinematic, work-space, and selfmotions of BogieBot are presented. The robot is demonstrated to perform challenging navigation tasks in different scenarios involving simulated complex environments.

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Section: Related Workmentioning

confidence: 99%

BogieBot: A Climbing Robot in Cluttered Confined Space of Bogies with Ferrous Metal Surfaces

Adinehvand

Asadi

Lai

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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show abstract

“…This unique locomotion gait is called transverse ledge brachiation (TLB). In events where swift locomotion is needed, or the distance between climbing ledges is greater than the robot’s arm span [ 12 , 13 ], climbers can let go of the ledge with one hand “in the instant before” the other hand grabs the target ledge. This results in a leap during which neither hand is in contact with a ledge.…”

Section: Introductionmentioning

confidence: 99%

“…Transverse brachiation requires good multi-limb coordination [ 24 ]. A simple two-link brachiation robot [ 12 , 13 , 15 , 17 , 18 , 19 ] is only capable of performing status switches between the swing phase and the grabbing phase [ 25 ]. Furthermore, fulfilling the grabbing conditions of rectangular ledges is not as easy as that of round bars.…”

Section: Introductionmentioning

confidence: 99%

Multi-Locomotion Design and Implementation of Transverse Ledge Brachiation Robot Inspired by Sport Climbing

Lin

Lee

2023

Biomimetics

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Brachiation robots mimic the locomotion of bio-primates, including continuous brachiation and ricochetal brachiation. The hand-eye coordination involved in ricochetal brachiation is complex. Few studies have integrated both continuous and ricochetal brachiation within the same robot. This study seeks to fill this gap. The proposed design mimics the transverse movements of sports climbers holding onto horizontal wall ledges. We analyzed the cause-and-effect relationship among the phases of a single locomotion cycle. This led us to apply a parallel four-link posture constraint in model-based simulation. To facilitate smooth coordination and efficient energy accumulation, we derived the required phase switching conditions as well as joint motion trajectories. Based on a two-hand-release design, we propose a new style of transverse ricochetal brachiation. This design better exploits inertial energy storage for enhanced moving distance. Experiments demonstrate the effectiveness of the proposed design. A simple evaluation method based on the final robot posture from the previous locomotion cycle is applied to predict the success of subsequent locomotion cycles. This evaluation method serves as a valuable reference for future research.

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Research on Control Algorithms of Underactuated Gymnastic Robot’s Leaping Between Horizontal Bar

Lian

Liu

et al. 2019

Intelligent Robotics and Applications

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Motion Planning for Ricochetal Brachiation Locomotion of Bio-primitive Robot

Cited by 8 publications

References 18 publications

BogieBot: A Climbing Robot in Cluttered Confined Space of Bogies with Ferrous Metal Surfaces

BogieBot: A Climbing Robot in Cluttered Confined Space of Bogies with Ferrous Metal Surfaces

Multi-Locomotion Design and Implementation of Transverse Ledge Brachiation Robot Inspired by Sport Climbing

Research on Control Algorithms of Underactuated Gymnastic Robot’s Leaping Between Horizontal Bar

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