Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots

Chen, Guangrong; Wei, Ningze; Liu, Yan; Lu, HuaFeng; Li, Jin

doi:10.1016/j.cnsns.2022.106943

Cited by 4 publications

(2 citation statements)

References 28 publications

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“…Chen et al proposed an articulated SLIP model for legged robots, which considers both axial and tangential forces along the equivalent leg. The proposed model can achieve better prediction accuracy than the classical model (Chen et al, 2023).…”

Section: Introductionmentioning

confidence: 94%

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Chen

Wei

et al. 2023

Journal of Field Robotics

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To improve the locomotion performance of legged robots, the swing leg retraction (SLR) technique is investigated in a hydraulic biped robot. First, the influence of SLR on the locomotion performance of the hydraulic biped robot is analyzed in theory and simulations based on an extended spring load inverted pendulum model. The influence contains three performance indicators: energy loss/effiency, friction/ slipping, and impact/compliance. Second, by synthesizing three performance indicators, using unified objective method and particle swarm optimization algorithm, the optimal SLR rate for gait planning based on Bezier curve is addressed.Finally, experiments are implemented to validate the effectiveness and feasibility of proposed method. And, the results show that the SLR technique is useful to reduce the impact force, improve the robot's locomotion stability and make room for impedance performance improvement of compliance controller. This research provides an insight for locomotion control of hydraulic legged robots.

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Section: Introductionmentioning

confidence: 94%

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Chen

Wei

et al. 2023

Journal of Field Robotics

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“…According to the type of motion, mobile robots can be classified into three categories, wheeled, crawler, and legged [1]. Wheeled robots are suitable for simple terrains, crawler robots can move on complex terrains, but their movement flexibility is poor.…”

Section: Introductionmentioning

confidence: 99%

Research on Environment Perception System of Quadruped Robots Based on LiDAR and Vision

Chen

Liu

2023

Drones

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Due to the high stability and adaptability, quadruped robots are currently highly discussed in the robotics field. To overcome the complicated environment indoor or outdoor, the quadruped robots should be configured with an environment perception system, which mostly contain LiDAR or a vision sensor, and SLAM (Simultaneous Localization and Mapping) is deployed. In this paper, the comparative experimental platforms, including a quadruped robot and a vehicle, with LiDAR and a vision sensor are established firstly. Secondly, a single sensor SLAM, including LiDAR SLAM and Visual SLAM, are investigated separately to highlight their advantages and disadvantages. Then, multi-sensor SLAM based on LiDAR and vision are addressed to improve the environmental perception performance. Thirdly, the improved YOLOv5 (You Only Look Once) by adding ASFF (adaptive spatial feature fusion) is employed to do the image processing of gesture recognition and achieve the human–machine interaction. Finally, the challenge of environment perception system for mobile robot based on comparison between wheeled and legged robots is discussed. This research provides an insight for the environment perception of legged robots.

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Compliant gait control method based on CVSLIP-FF model for biped robot walking over uneven terrain

Xie,

Li,

et al. 2024

ISA Transactions

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Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots

Cited by 4 publications

References 28 publications

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Research on Environment Perception System of Quadruped Robots Based on LiDAR and Vision

Compliant gait control method based on CVSLIP-FF model for biped robot walking over uneven terrain

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