Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Qian, Hao; Wang, Zhaoba; Wang, Junzheng; Chen, Guangrong

doi:10.3390/s20174911

Cited by 26 publications

(12 citation statements)

References 48 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The gait-switching hybrid trigger of the space robot is referenced to the quadruped robot and improved according to the actual situation. The gait switching of the quadruped robot requires the quadrupeds to carry out high-frequency oscillating phase-supporting phase motion mode [ 22 ], and the hybrid trigger is mainly time-triggered, as in Figure 4 .…”

Section: Planning and Control Methodsmentioning

confidence: 99%

Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots

Jiang

Wei

Yu³

et al. 2023

Sensors

View full text Add to dashboard Cite

Complex space missions require more space robotic extravehicular operations required to crawl on spacecraft surfaces with discontinuous features at the graspable point, greatly increasing the difficulty of space robot motion manipulation. Therefore, this paper proposes an autonomous planning method for space dobby robots based on dynamic potential fields. This method can realize the autonomous crawling of space dobby robots in discontinuous environments while considering the task objectives and the self-collision problem of robotic arms when crawling. In this method, a hybrid event–time trigger with event triggering as the main trigger is proposed by combining the working characteristics of space dobby robots and improving the gait timing trigger; the dynamic potential field function is designed to adjust the space robot robotic arm grasping point adaptively according to the space robot state. Simulation results verify the effectiveness of the proposed autonomous planning method.

show abstract

Section: Planning and Control Methodsmentioning

confidence: 99%

Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots

Jiang

Wei

Yu³

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…Static gait [8,9] and dynamic gait [10,11] are two common gait patterns in quadrupedal crawling robots. Static gait offers high crawling stability but low crawling speed.…”

Section: Quadrupedal Crawling Gait Analysismentioning

confidence: 99%

Design and motion performance analysis of a soft-bodied robot with dual motion modes

jiabao,

yangjie,

chengjun

2023

Third International Conference on Control and Intelligent Robotics (ICCIR 2023)

View full text Add to dashboard Cite

“…Maintaining stability when moving [17,18] and overcoming obstacles [2,19] are also important issues that have been studied in recent years.…”

Section: • Maintenance Is Difficultmentioning

confidence: 99%

“…From (18), the height at which the body is lifted when the maximum potential energies, for the two phases are equalized, is as follows…”

Section: Determining the Basic Dimensionsmentioning

confidence: 99%

3D Printed Walking Robot Based on a Minimalist Approach

Chavdarov¹

2021

Collaborative Robots [Working Title]

View full text Add to dashboard Cite

3D printing technology enables the design and testing of highly complex robot prototypes and joints. Here an original idea for a walking robot is presented, based on a minimalist approach. Although the robot has a simple mechanical structure using only 2 motors, it can walk, turn around its central axis and climb high obstacles. The simple design ensures higher reliability in terms of mechanics and control. A design principle is suggested, which minimizes power consumption during climbing. The kinematics and static conditions for overcoming an obstacle are analyzed and the movements of the robot are simulated. A 3D-printed prototype of the robot is created. It is used for experiments to test the efficiency of different materials and shapes for the robot’s feet when climbing. The results are ranked and compared with the efficiency of other walking robots.

show abstract

Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Cited by 26 publications

References 48 publications

Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots

Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots

Design and motion performance analysis of a soft-bodied robot with dual motion modes

3D Printed Walking Robot Based on a Minimalist Approach

Contact Info

Product

Resources

About