Posture Control of All Terrain Mobile Robot with Vibration Isolation System

Ma, Fangwu; Ni, Liwei; Wei, Lulu; Nie, Jiahong; Wu, Liang; Jia, Weiwei

doi:10.1007/978-3-030-38077-9_205

Cited by 4 publications

(3 citation statements)

References 6 publications

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“…Contact impact with the ground is a complex phenomenon, as factors such as material properties and contact surfaces need to be considered ( 44 , 66 ). The impact of the contact between the mechanical leg and the ground will cause the vibration of the bionic robot, thus affecting its stability, service life, and control accuracy ( 67 – 69 ). From the view of FEA results, when the cat landed at different heights, the maximum stress of each joint appeared in the styloid process of the ulna, the coronal process of the ulna, and the neck of the scapula.…”

Section: Discussionmentioning

confidence: 99%

New Insights for the Design of Bionic Robots: Adaptive Motion Adjustment Strategies During Feline Landings

Zhou

Jiang

et al. 2022

Front. Vet. Sci.

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Felines have significant advantages in terms of sports energy efficiency and flexibility compared with other animals, especially in terms of jumping and landing. The biomechanical characteristics of a feline (cat) landing from different heights can provide new insights into bionic robot design based on research results and the needs of bionic engineering. The purpose of this work was to investigate the adaptive motion adjustment strategy of the cat landing using a machine learning algorithm and finite element analysis (FEA). In a bionic robot, there are considerations in the design of the mechanical legs. (1) The coordination mechanism of each joint should be adjusted intelligently according to the force at the bottom of each mechanical leg. Specifically, with the increase in force at the bottom of the mechanical leg, the main joint bearing the impact load gradually shifts from the distal joint to the proximal joint; (2) the hardness of the materials located around the center of each joint of the bionic mechanical leg should be strengthened to increase service life; (3) the center of gravity of the robot should be lowered and the robot posture should be kept forward as far as possible to reduce machine wear and improve robot operational accuracy.

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Section: Discussionmentioning

confidence: 99%

New Insights for the Design of Bionic Robots: Adaptive Motion Adjustment Strategies During Feline Landings

Zhou

Jiang

et al. 2022

Front. Vet. Sci.

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“…Crawler mobile robot has strong off-road capability, but high energy consumption. Legged robots have a strong ability to surmount obstacles, but their movement speed is slow and their control system is complex [8] . The composite mobile robot combining two or more chassis structures can flexibly change its structure according to different road conditions, rationally utilize the advantages of each chassis structure, and effectively enhance the environmental adaptability of mobile robots [9] .…”

Section: Introductionmentioning

confidence: 99%

The leg structure design and motion analysis of connecting rod wheel leg hybrid mobile robot

Zhou

Zhang

2022

International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022)

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In order to improve the mobility and adaptability of mobile robots in complex environments, this paper proposes a kind of connecting rod four-legged composite robot leg structure. The leg mechanism adopts the design of series and parallel composite connecting rod. Each leg contains two degrees of freedom of hip joint and knee joint, and the joint motor is installed on the fuselage. The main body of the wheeled structure is the driving wheel, which is mounted on the shank. The dead point position is used to ensure the stability of the link structure during the wheel motion. The objective function of optimal design of leg mechanism is obtained by statics analysis, the parameters of leg linkage mechanism are optimized by multi-objective optimization genetic algorithm, and the motion space of foot end is solved. Through Adams on the design of wheel leg compound mobile robot Trot gait, Walk gait and wheel leg convert motion simulation, the simulation results show that the foot type sports center of mass on the direction of gravity changes in the distance is less than 4 mm, in the process of movement joint torque biggest not more than 1.75 N ꞏ m, and a physical prototype was made for experimental verification. The simulation results and experimental results show that the designed linkage type compound leg structure can realize the basic stable movement of the foot and the stable switching function of the wheel foot.

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“…These feet-ground contact impacts would cause the legged robot to vibrate, which would affect their walking stability, control precision, and service life [11][12][13]. Researchers and engineers proposed a variety of methods to absorb impact energy and reduce vibration such as flexible feet [14].…”

Section: Introductionmentioning

confidence: 99%

Design of Bionic Buffering and Vibration Reduction Foot for Legged Robots

Cong

Shi

Wang

et al. 2021

Applied Bionics and Biomechanics

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When legged robots walk on rugged roads, they would suffer from strong impact from the ground. The impact would cause the legged robots to vibrate, which would affect their normal operation. Therefore, it is necessary to take measures to absorb impact energy and reduce vibration. As an important part of a goat’s foot, the hoof capsule can effectively buffer the impact from the ground in the goat’s running and jumping. The structure of the hoof capsules and its principle of buffering and vibration reduction were studied. Inspired by the unique shape and internal structure of the hoof capsules, a bionic foot was designed. Experimental results displayed that the bionic foot could effectively use friction to consume impact energy and ensured the stability of legged robot walking. In addition, the bionic foot had a lower natural vibration frequency, which was beneficial to a wide range of vibration reduction. This work brings a new solution to the legged robot to deal with the ground impact, which helps it adapt to a variety of complex terrain.

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Posture Control of All Terrain Mobile Robot with Vibration Isolation System

Cited by 4 publications

References 6 publications

New Insights for the Design of Bionic Robots: Adaptive Motion Adjustment Strategies During Feline Landings

New Insights for the Design of Bionic Robots: Adaptive Motion Adjustment Strategies During Feline Landings

The leg structure design and motion analysis of connecting rod wheel leg hybrid mobile robot

Design of Bionic Buffering and Vibration Reduction Foot for Legged Robots

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