Position/Force Control for a Single Leg of a Quadruped Robot in an Operation Space

Zhang, Taihui; Wei, Qing; Ma, Hongxu

doi:10.5772/54823

Cited by 15 publications

(9 citation statements)

References 10 publications

(11 reference statements)

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“…with equality constraints Equations (4) and (5) and inequality constraints, i.e., physical constraints of the joint as follows:…”

Section: The Optimization Criterion and Qp Formulationmentioning

confidence: 99%

“…In some analytical methods, inverse kinematics of redundant robot could be described as a parameterized function with parameters including joint angles [1,2], the angle between the reference plane and robot [3,4]. Manually adding constraints is another analytical method to calculate the inverse kinematics of redundant robot [5]. The inverse kinematics problem could be analytically solved while the redundant DOFs matches number of added constraints.…”

Section: Introductionmentioning

confidence: 99%

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Discretized Mid‐Value CLVI‐PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot

Rao

Zhang

et al. 2019

Mathematical Problems in Engineering

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The two most important performance indicators of quadruped robot are load capacity and walking speed, and these performance indicators of the whole robot finally reflect on the joint torques and angular velocities. To satisfy different requirements of walking speed and load capacity when quadruped robots implement different tasks, the joint torques and angular velocities need to be balanced with physical constraints of the joints. A single leg with redundant DOF (degree of freedom) could optimize the distribution of joint torques or angular velocities based on different performance requirements. This paper presents a kind of new recurrent neural networks taking joint torques and angular velocities simultaneously into consideration and proposes mid-value CLVI-PDNN to achieve the optimal joint torques and angular velocities with physical constraints of the mechanism as described in our previous paper. Because the continuous mid-value CLVI-PDNN has difficulty in real-time operation because of too much calculation workload, two kinds of methods are proposed to discretize the mid-value CLVI-PDNN for application on computer or digital circuit. The simulation results demonstrate the efficacy of the algorithm proposed in this paper.

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“…with equality constraints Equations (4) and (5) and inequality constraints, i.e., physical constraints of the joint as follows:…”

Section: The Optimization Criterion and Qp Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Discretized Mid‐Value CLVI‐PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot

Rao

Zhang

et al. 2019

Mathematical Problems in Engineering

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“…In the field of robot stability, Hajiabadi [16] developed foot force stability margin (FFSM) and modified foot force stability margin (MFFSM) methods to calculate the stability of the system which is based on sensing the foot forces. Bioinspired reactive stability control method is used to stabilize the foot force margin, aiming to help legged robots to recover after the loss of its stability and maintain the stability in case of any external disturbance [17,18]. Xin et al [19] adopted the hierarchical control architecture with high-level gait planner, low-level trajectory planner and controllers.…”

Section: Introductionmentioning

confidence: 99%

A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Luneckas

Udris

et al. 2020

Intel Serv Robotics

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Walking robots are considered as a promising solution for locomotion across irregular or rough terrain. While wheeled or tracked robots require flat surface like roads or driveways, walking robots can adapt to almost any terrain type. However, overcoming diverse terrain obstacles still remains a challenging task even for multi-legged robots with a high number of degrees of freedom. Here, we present a novel method for obstacle overcoming for walking robots based on the use of tactile sensors and generative recurrent neural network for positional error prediction. By using tactile sensors positioned on the front side of the legs, we demonstrate that a robot is able to successfully overcome obstacles close to robots height in the terrains of different complexity. The proposed method can be used by any type of a legged machine and can be considered as a step toward more advanced walking robot locomotion in unstructured terrain and uncertain environment.

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“…Actually, the analysis of the system dynamics in contact phase and this control algorithm were presented in our other paper and we rewrite the control law below. 10 The Force Controller shown in Figure 2 is as follows…”

Section: Control Of the Apex Height Of The Upper Legmentioning

confidence: 99%

Height control for a two-mass hopping robot based on stable limit cycle

Zhang

Wei

et al. 2016

International Journal of Advanced Robotic Systems

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Differing from the commonly used spring loaded inverted pendulum model, this paper makes use of a two-mass spring model considering impact between the foot and ground which is closer to the real hopping robot. The height of upper mass which includes the upper leg and body is the main control objective. Then we develop a new kind of control algorithm acting on two levels: The upper level aims to achieve the desired velocity of the upper mass based on a stable limit cycle, where three different controllers are used to regulate the limit cycle; the target of the lower level is to drive the system to converge to the desired state and control the contact force between the foot and ground within an appropriate range based on the inner force control at the same time. Simulation results presented in this paper confirm the efficiency of this control algorithm.

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Position/Force Control for a Single Leg of a Quadruped Robot in an Operation Space

Cited by 15 publications

References 10 publications

Discretized Mid‐Value CLVI‐PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot

Discretized Mid‐Value CLVI‐PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot

A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Height control for a two-mass hopping robot based on stable limit cycle

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