Prototype, control system architecture and controlling of the hexapod legs with nonlinear stick-slip vibrations

Grzelczyk, Dariusz; Stańczyk, Bartosz; Awrejcewicz, Jan

doi:10.1016/j.mechatronics.2016.01.003

Cited by 27 publications

(13 citation statements)

References 48 publications

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“…The authors of this article have been studying the biologically inspired robots for some time. In Grzelczyk et al, 17 a prototype of an insect-inspired six-legged robot for inspection and operational purposes was described. A detailed discussion on mechanical construction, electronic control system, and devices installed on the robot body was presented.…”

Section: Introductionmentioning

confidence: 99%

Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators

Grzelczyk

Szymanowska

Awrejcewicz

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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The goal of the study was to perform both kinematic and dynamic simulation of an octopod robot walking on a flat and hard surface. To drive robot legs, different non-linear mechanical oscillators were employed as central pattern generators. Aside from using some well-known oscillators, a new model was proposed. Time series of robot’s kinematic and dynamic locomotion parameters were computed and discussed. Displacement and velocity of the centre of gravity of the robot, ground reaction forces acting on the robot legs, as well as some aspects of energy consumption of a walking robot were analysed to assess the central pattern generators. The obtained kinematic and dynamic parameters showed some advantages of the applied generator. In particular, the gait of the robot was most stable when the robot was driven by the proposed central pattern generator model.

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Section: Introductionmentioning

confidence: 99%

Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators

Grzelczyk

Szymanowska

Awrejcewicz

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

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“…The first practical CPG model was proposed by Matsuoka in 1987 [26], which could enable the steady walking of a Tekken II quadruped robot [27]. Afterwards, the CPG-based locomotion control has been successfully applied to a variety of bioinspired robots such as the snake-like robot [28,29], the fish-like robot [30,31], the biped robot [32,33], the quadruped robot [34,35] and the hexapod robot [36,37]. Minati et al used FPAA-based oscillators set up a hierarchical CPG network for an ant-like hexapod robot.…”

Section: Introductionmentioning

confidence: 99%

CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition

Bai

Chen

et al. 2019

Sensors

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This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the curved leg and instability during the gait transitions are analyzed. Then, a modified Hopf oscillator is applied in the CPG control, which can realize multiple gaits by adjusting a simple parameter. In addition, a smooth gait switching method is also proposed via smooth gait transition functions and gait planning. Tripod gait, quadruped gait, and wave gait are planned for the hexapod robot to achieve quick and stable gait transitions smoothly and continuously. MATLAB and ADAMS simulations and corresponding practical experiments are conducted. The results show that the proposed method can achieve smooth and continuous mutual gait transitions, which proves the effectiveness of the proposed CPG-based hexapod robot control.

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“…Many scholars have conducted research on the energy consumption of robots with feet and reduced the energy consumption through a joint locking device; however, this device brings additional energy consumption and cumbersome mechanism problems [4][5][6]. Shibendu et al [7][8][9] used the Lagrangian-Eulerian dynamic equation to establish the robot's system and used the least-squares method to obtain the joint torque and optimize the trajectory; then, they analyzed the energy consumption under the robot's motion state.…”

Section: Introductionmentioning

confidence: 99%

Research on Low Energy Consumption Static Postures of Bionic Feet

Zhang

Gao

et al. 2019

Applied Sciences

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By studying the relation of the robot’s postures and its energy consumption, a static analysis-based method to obtain the low-energy postures of the robot is proposed. This method decreases the energy consumption and increases the battery life by adjusting the postures in the horizontal environment. The method takes the low-speed hexapod bionic robot as the research object. First, we obtain the output torque of each joint of the leg through static analysis and establish the energy consumption model of the robot. Considering the flexibility of the robot, we then introduce the performance index of the maximum step length and establish an equilibrium solution based on energy consumption and maximum step size. Finally, we derive the low-energy postures of the robot using MATLAB (MATLAB 2014a, The MathWorks, Natick, Massachusetts State, USA, 2014) simulations. An energy consumption experiment is carried out with a physical prototype to verify the validity of the method.

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Prototype, control system architecture and controlling of the hexapod legs with nonlinear stick-slip vibrations

Cited by 27 publications

References 48 publications

Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators

Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators

CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition

Research on Low Energy Consumption Static Postures of Bionic Feet

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