Study of the Foot Force Stability Margin for multi-legged/wheeled robots under dynamic situations

Agheli, Mahdi; Nestinger, Stephen S.

doi:10.1109/mesa.2012.6275544

Cited by 14 publications

(7 citation statements)

References 22 publications

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“…With the assumption of sufficient friction to prevent slippage and non-collinear foot distribution, n i=1 R i = 0, the normal foot forces, f i , provide sufficient information to determine the stability of the system. According to previous discussion, a spatial multilegged walking robot with n supporting legs (n 3) is defined to be dynamically stable at time t, if and only if, there are at least three legs with strictly positive normal foot forces (f i > 0) at time t [23,24]. This definition provides a quick measurable method for determining the stability of the system.…”

Section: Foot Force Based Reactive Stability Strategymentioning

confidence: 99%

“…The stability margin should also be able to present a quantitative stability extent which measures how close or far the robot is to the unstable or the maximum stable state. Hence, the FFSM [23], revisited in Section 3.2, is used since it only requires the measured normal foot/ground contact forces of the robot and provides a margin between zero and one which refer to the instability threshold and the maximum stability state of the robot, respectively. The conciseness and sensitivity of the FFSM make it efficient for use in an on-line and real-time controller to measure and predict the stability level of the system.…”

Section: Stability Metricmentioning

confidence: 99%

“…A general reactive stability controller requires a measure of stability to be used within the controller to continuously monitor the stability of the current robot configuration and predict the stability of possible robot configurations. To monitor the stability of the robot, a variety of stability criteria in the field of multi-legged and multi-wheeled robotics for both static and dynamic situations may be used [14][15][16][17][18][19][20][21][22][23]. However, since the stability of the robot needs to be monitored at a high frequency, the selected margin should use minimal sensory information and be computationally fast.…”

Section: Introductionmentioning

confidence: 99%

“…The Fig. 1 A hexapod walking robot reacting to an unknown external perturbation using the measured normal foot forces as a metric for stability Foot Force Stability Margin (FFSM) [23] provides a rapid sense of stability based solely on the measured normal component of the foot forces. Having an understanding of stability of the robot under external perturbations, the algorithm presented in this paper follows simple axioms to compensate for the loss of stability and recover the robot to a stable configuration.…”

Section: Introductionmentioning

confidence: 99%

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Foot Force Based Reactive Stability of Multi-Legged Robots to External Perturbations

Agheli

Nestinger

2015

J Intell Robot Syst

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Many environments and scenarios contain rough and irregular terrain and are inaccessible or hazardous for humans. Robotic automation is preferred in lieu of placing humans at risk. Legged locomotion is more advantageous in traversing complex terrain but requires constant monitoring and correction to maintain system stability. This paper presents a multi-legged reactive stability control method for maintaining system stability under external perturbations. Assuming tumbling instability and sufficient friction to prevent slippage, the reactive stability control method is based solely on the measured foot forces normal to the contact surface, reducing computation time and sensor information. Under external perturbations, the reactive stability control method opts to either displace the CG or the foot contacts of the robot based on the measured foot force distribution. Details describing the reactive stability control method are discussed including algorithms and an implementation example. An experimental demonstration of the reactive stability control method is presented. The experiment was conducted on a hexapod robot platform retrofitted with a tiny computer and force sensitive resistors to measure the foot forces. The experimental M. Agheli ( ) · S. S. Nestinger results show that the presented reactive stability control strategy prevents the robot from tipping over under external perturbation.

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Section: Foot Force Based Reactive Stability Strategymentioning

confidence: 99%

Section: Stability Metricmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Foot Force Based Reactive Stability of Multi-Legged Robots to External Perturbations

Agheli

Nestinger

2015

J Intell Robot Syst

Self Cite

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“…To generate crawling gait on the basis of the static stability, Hirose et al [26] suggested diagonal principle. Agheli and Nestinger studied the foot force stability margin for the multi-legged wheeled robots under dynamic conditions [27]. Moreover, in many instances, the workspace and stability of robots were studied separately.…”

Section: Introductionmentioning

confidence: 99%

A geometric approach to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function

Wang

et al. 2016

Robotics and Computer-Integrated Manufacturing

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Path planning for a tracked robot traversing uneven terrains based on tip‐over stability

Zhao

Zhang

Liu

et al. 2023

Asian Journal of Control

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In the real‐world environment, the path planning method of tracked robot is widely studied when driving on uneven terrain. How to solve the problem that the traditional path planning algorithm cannot adapt to uneven terrain because of the constraints of obstacle avoidance and path length is a challenge for tracked robots. In this paper, a stability‐based path planning framework for tracked robot is proposed to reduce the risk of rollover when the tracked robot passes through uneven terrain. First, a virtual plane method is proposed to estimate the attitude of tracked robot. Second, on this basis, a dynamic high‐stability path evaluation algorithm for tracked robot based on force angle stability margin (FASM) is proposed, which transforms the stability‐based path planning problem into a hypergraph problem. Moreover, considering that the optimization problem is strongly nonlinear and nonconvex, a hybrid algorithm of covariance matrix adaptive evolution strategy (CMAES) and Levenberg–Marquardt (LM) is designed under the framework of generalized graph optimization (G2O) to improve the solution efficiency. Finally, simulation and experiments show that the stability‐based path planning framework can effectively plan the high‐quality path, and the maximum stability of the tracked robot is 0.9156 when the robot crosses uneven terrain using optimal path 2.

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Study of the Foot Force Stability Margin for multi-legged/wheeled robots under dynamic situations

Cited by 14 publications

References 22 publications

Foot Force Based Reactive Stability of Multi-Legged Robots to External Perturbations

Foot Force Based Reactive Stability of Multi-Legged Robots to External Perturbations

A geometric approach to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function

Path planning for a tracked robot traversing uneven terrains based on tip‐over stability

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