Omnidirectional Hexapod Walking and Efficient Gaits Using Restrictedness

Fielding, Michael; Dunlop, GR

doi:10.1177/0278364904047396

Cited by 17 publications

(10 citation statements)

References 12 publications

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“…Instead, the stance movement needs to be restricted in any direction with respect to the workspace of the individual leg during omnidirectional walking. The limit of the workspace is formulated in terms of an unrestrictedness measure (Paskarbeit, 2017) which has been derived from the complementary concept of restrictedness as formulated by Fielding and Dunlop (2004). An example for such a limited area is shown in Figure 10E.…”

Section: Spatial Coordination Of Limbs and Omnidirectional Agilitymentioning

confidence: 99%

“…A more theoretical approach within this stream of research also succeeded in exploiting chaotic properties of neural oscillatory networks (Steingrube et al, 2010). Both streams of research have at least partially included results derived from behavioral experiments, either by implementing particular motion patterns (e.g., Klaassen et al, 2002) or a continuum of free gaits based on the rules governing inter-leg coordination (e.g., Espenschied et al, 1996; Schmitz et al, 2008), but also theoretically derived criteria (e.g., Fielding and Dunlop, 2004). This plethora of approaches has been reviewed with respect to the mutual benefits of biology and engineering in general (e.g., Ritzmann et al, 2000; Ayers et al, 2002), and adaptive control strategies for multi-legged robots in particular (e.g., Arena and Patanè, 2009; Aoi et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

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Integrative Biomimetics of Autonomous Hexapedal Locomotion

et al. 2019

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Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on disparate and conceptually disjunct research areas in the neurosciences and engineering sciences. We claim that the development of suitable robotic integration platforms is of particular relevance to make such integration of concepts work in practice. Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion. In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots—ranging from compliant actuation, distributed proprioception and control of multiple legs, the formation of internal representations to the use of an internal body model—we introduce the walking robot HECTOR as a research platform for integrative biomimetics of hexapedal locomotion. Owing to its 18 highly sensorized, compliant actuators, light-weight exoskeleton, distributed and expandable hardware architecture, and an appropriate dynamic simulation framework, HECTOR offers many opportunities to integrate research effort across biomimetics research on actuation, sensory-motor feedback, inter-leg coordination, and cognitive abilities such as motion planning and learning of its own body size.

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Section: Spatial Coordination Of Limbs and Omnidirectional Agilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Integrative Biomimetics of Autonomous Hexapedal Locomotion

et al. 2019

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“…Hamlet was a hexapod robot constructed at the University of Canterbury, New Zealand [44] in order to study hexapod gait planning, force and position control on uneven terrain. A series of hexapod named LEMUR (Limbed Excursion Mechanical Utility Robots robot) was developed by Jet Propulsion Laboratory with the goals of using robots for repair and maintenance in near-zero gravity on the surface of spacecraft [45].…”

Section: State Of Art Overviewmentioning

confidence: 99%

Hexapod Walking Robot Locomotion

Tedeschi

Carbone

2015

Motion and Operation Planning of Robotic Systems

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Path planning, gait planning and trajectory planning are assuming an increasing significance for Hexapod Walking robots and more generally, in legged robotics. Indeed, the trend for walking robots is to improve the speed, the stability, the navigation autonomy and the energy efficiency. In this Chapter it will be addressed the problem of Hexapod Walking Robots (HWR) locomotion. An overview of the State of the Art is carried out with references to the numerous contributions to this field. It will be provided a background on the topics of path planning, gait and trajectory planning for HWR locomotion. Special attention will be given to the hexapod gaits, starting from their classification together with a detailed description of most common ones. A case of study is described as referring to previous experiences at LARM in Cassino. Examples of a path planning, gait and trajectory planning are provided through kinematic and dynamic features of Cassino Hexapod leg operation.

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“…The ideas presented in this paper apply to both types of drive but discussion will be restricted to the brushed DC motor. The walking machine Hamlet (Fielding and Dunlop, 2002) shown in fig. 1 utilises 18 electric motors.…”

Section: Introductionmentioning

confidence: 99%

“…The position information from a motor is also used to derive the velocity of the motor for use in the velocity servo loop contained inside the position feedback servo control loop. Hamlet was designed to explore the omnidirectional walking gaits of insects (Fielding and Dunlop, 2004) and as such it moves so slowly that regenerative energy issues need not be considered. The walker used 6 FPGA (field programmable array) units to control the 6 legs.…”

Section: Introductionmentioning

confidence: 99%

INTELLIGENT ELECTRIC DRIVE SYSTEM - A mechatronics approach

Dunlop¹

2004

Proceedings of the First International Conference on Informatics in Control, Automation and Robotics

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Drive efficiency is an important consideration in most robotic applications. A hybrid controller for permanent magnet DC motors has been developed to control the current, and hence the output torque of the motor. An H bridge is used to provide the basic PWM voltage to the motor, and the controller switches the bridge between bipolar and unipolar modes in order to minimise the switching losses within the bridge and motor, and also to minimise the electromagnetic interference. The first application presented is for a walking robot, and the second is for a dexterous robotic hand. In both cases, control is obtained from a voltage sourced inverter by means of a tight control loop that uses position readings to infer velocity so that a full DC motor model can be utilised in the control computer. For the dexterous hand, current control is by model prediction to avoid the need for direct measurement. The controller and communications are contained within a small programmable system on a chip which together with a dual H bridge driver is integrated into small circuit board that is used for distributed control within the hand.

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Omnidirectional Hexapod Walking and Efficient Gaits Using Restrictedness

Cited by 17 publications

References 12 publications

Integrative Biomimetics of Autonomous Hexapedal Locomotion

Integrative Biomimetics of Autonomous Hexapedal Locomotion

Hexapod Walking Robot Locomotion

INTELLIGENT ELECTRIC DRIVE SYSTEM - A mechatronics approach

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