Simple Walking Strategies for Hydraulically Driven Quadruped Robot over Uneven Terrain

Cho, Jungsan; Kim, Jin Tak; Kim, Jungyoung; Park, Sangdeok; Kim, Kab Il

doi:10.5370/jeet.2016.11.5.1433

Cited by 12 publications

(6 citation statements)

References 16 publications

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“…9 For the development of hydraulic quadruped robots, hip joint motion is an extremely complicated process of the robot, which involves different components from four symmetrical legs, four rotating joints and each leg hydraulic actuator to a hinged torso equipped with computers, controllers and sensors. [10][11][12] Due to the larger distance between the robots' foot and roll shaft, in the same foot end force, the required driving torque is larger. [13][14][15] In order to obtain the required driving torque, it can be realized by increasing the oil supply pressure, increasing the effective area of the hydraulic cylinder and adopting multi-cylinder parallel connection and other ways.…”

Section: Introductionmentioning

confidence: 99%

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Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Shao

Jin

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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In the article, a heavy-duty quadruped robot was designed. A parallel cylinder transmission scheme for the heavy load torque of the hip joint of heavy-duty hydraulic quadruped robot is proposed, the mathematical model of the parallel cylinder system is derived, the model characteristics of the parallel cylinder system are analyzed, the characteristics of internal force and joint control of parallel cylinders are considered, the force/position hybrid control of parallel cylinder is proposed to eliminate the internal forces and realize the requirement of joint control and the force/position control is decoupled by the design of the force and position signal. According to the characteristics of the servo cylinder force control model, the flow compensation and speed compensation are introduced, the minimum control synthesis controller is used to control the servo cylinder force and the proportional integral controller is applied to control the position of servo cylinder. The compound control strategy is analyzed on the table of parallel cylinder, and the experimental results show that the amplitude attenuation and phase lag of position and force are less than 10% and 18 , respectively, and the efficiency of the proposed control strategy is verified. The research results of this article will be widely used in many fields of robot control in the future.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Shao

Jin

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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“…Other commercial examples are the linear and rotary actuators developed by KNR systems ( Kim et al, 2014 ) that feature KNR series KSV070 servo valves [6] . A combination of KNR actuators and Star Hydraulics series 200 servo valves [7] are used for the hydraulic quadruped robot Jinpoong developed by the Korea Institute of Industrial Technology (KITECH) ( Cho et al, 2016 ).…”

Section: Introductionmentioning

confidence: 99%

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control

et al. 2018

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Hydraulic actuation is the most widely used alternative to electric motors for legged robots and manipulators. It is often selected for its high power density, robustness and highbandwidth control performance that allows the implementation of force/impedance control. Force control is crucial for robots that are in contact with the environment, since it enables the implementation of active impedance and whole body control that can lead to a better performance in known and unknown environments. This paper presents the hydraulic Integrated Smart Actuator (ISA) developed by Moog in collaboration with IIT, as well as smart manifolds for rotary hydraulic actuators. The ISA consists of an additive-manufactured body containing a hydraulic cylinder, servo valve, pressure/position/load/temperature sensing, overload protection and electronics for control and communication. The ISA v2 and ISA v5 have been specifically designed to fit into the legs of IIT's hydraulic quadruped robots HyQ and HyQ-REAL, respectively. The key features of these components tackle 3 of today's main challenges of hydraulic actuation for legged robots through: (1) built-in controllers running inside integrated electronics for high-performance control, (2) low-leakage servo valves for reduced energy losses, and (3) compactness thanks to metal additive manufacturing. The main contributions of this paper are the derivation of the representative dynamic models of these highly integrated hydraulic servo actuators, a control architecture that allows for highbandwidth force control and their experimental validation with application-specific trajectories and tests. We believe that this is the first work that presents additive-manufactured, highly integrated hydraulic smart actuators for robotics.

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“…There are a lot of current studies about quadruped robots. For example; BigDog [1] is developed by Boston Dynamics, ANYmal [2] is developed by Hutter et al, Jinpong [3] is developed by Cho et al, HyQ2Max [4] is developed by Semini et al The PID controller operates the large share of the control system in the world. Tuning of PID gains using a search algorithm is ensure better response more than traditional methods such as trial-error methods and Ziegler-Nichols method.…”

Section: Introductionmentioning

confidence: 99%

Optimal Tuning of PID Controller Using Grey Wolf Optimizer Algorithm for Quadruped Robot

Şen

Kalyoncu²

2018

Balkan Journal of Electrical and Computer Engineering

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The research and development of quadruped robots is grown steadily in during the last two decades. Quadruped robots present major advantages when compared with tracked and wheeled robots, because they allow locomotion in terrains inaccessible. However, the design controller is a major problem in quadruped robots because of they have complex structure. This paper presents the optimization of two PID controllers for a quadruped robot to ensure single footstep control in a desired trajectory using a bio-inspired meta-heuristic soft computing method which is name the Grey Wolf Optimizer (GWO) algorithm. The main objective of this paper is the optimization of KP, KI and KD gains with GWO algorithm in order to obtain more effective PID controllers for the quadruped robot leg. The importance to this work is that GWO is used first time as a diversity method for a quadruped robot to tune PID controller. Moreover, to investigate the performance of GWO, it is compared with widespread search algorithms. Firstly, the computer aided design (CAD) of the system are built using SolidWorks and exported to MATLAB/SimMechanics. After that, PID controllers are designed in MATLAB/Simulink and tuned gains using the newly introduced GWO technique. Also, to show the efficacy of GWO algorithm technique, the proposed technique has been compared by Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) algorithm. The system is simulated in MATLAB and the simulation results are presented in graphical forms to investigate the controller's performance.

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Simple Walking Strategies for Hydraulically Driven Quadruped Robot over Uneven Terrain

Cited by 12 publications

References 16 publications

Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control

Optimal Tuning of PID Controller Using Grey Wolf Optimizer Algorithm for Quadruped Robot

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