Research on smooth trot-to-walk gait transition algorithm for quadruped robot

Xin, Yaxian; Liu, Bin; Rong, Xuewen; Li, Bin; Wang, Haiyan

doi:10.1109/cac.2017.8243851

Cited by 6 publications

(2 citation statements)

References 15 publications

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“…In this way, from the author's review of the literature, it is known that few researchers have actively contributed to the dynamic motion posture of four-legged robots. However, it is well known that tetrapods in nature usually twist, dive or bend their trunks to walk, run or crawl [18][19][20]. The turning strategy of a four-legged robot based on leg gait was mentioned by Liu et al [21].…”

Section: Introductionmentioning

confidence: 99%

Kinematics analysis of a FLHL robot parallel-executed cylinder mechanical integration system with force/position hybrid control servo actuator

Wang¹,

Wang²,

Fu³

et al. 2021

J. vibroeng.

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In this research subtopic, an electro-hydraulic servo four-legged heavy load (FLHL) robot has been designed and developed. This paper proposes an integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torques of hip joint, and derives the mathematical element analysis model for a parallel hydraulic servo cylinder system. The multiple inherent characteristics of the parallel-executed cylinder integration system model are further explored. Based on the controllable functional requirements of interconnected joints and weakening the influence of internal force coupling, a design idea of force/position hybrid control scheme for the parallel-executed cylinder is determined, and then the force/position signal module design unit is used to reversely solve the force/position hybrid control. Considering the inherent requirements of the servo-executed cylinder force control unit module, the implementation process of magnetic flux compensation and speed compensation is discussed in detail. The minimum amplitude controller is applied to the servo-executed cylinder force unit module, and the proportional integrated controller has been determined in the servo-executed cylinder position control unit module. A compound control strategy proposed in this paper is verified on a parallel hydraulic servo platform. The experimental verification results reveal that the values of position/force attenuation amplitude and lag phase are not greater than 9 % and 18°, respectively. In addition, the feasibility of the interconnected implementation of the hybrid control scheme proposed in this paper is further deepened. The effective conclusion of this research will be accepted in the application field of FLHL robot control system.

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Section: Introductionmentioning

confidence: 99%

Kinematics analysis of a FLHL robot parallel-executed cylinder mechanical integration system with force/position hybrid control servo actuator

Wang¹,

Wang²,

Fu³

et al. 2021

J. vibroeng.

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“…Generation of gait pattern via central pattern generator (CPG) was proposed by [18,19], and an adaptive approach of CPG was introduced by [20]. Integration of trot gait to CPG was presented by [21]; the combination of trot and walk gait was proposed by [22]. Analysis on the stability of generated trajectory by gait pattern was substantially discussed in [23,24].…”

Section: Introductionmentioning

confidence: 99%

Development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics

Muslim¹,

Rusli²,

Zufaryansyah³

et al. 2019

Bulletin EEI

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As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.

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