Trajectory adaptation of biomimetic equilibrium point for stable locomotion of a large-size hexapod robot

Chen, Chen; Zha, Fusheng; Wei, Guo; Li, Zhibin; Shi, Jianhui

doi:10.1007/s10514-020-09955-4

Cited by 7 publications

(2 citation statements)

References 44 publications

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“…The key benefits of harnessing equilibrium-point control for robots are the ability to control the equilibrium configuration independently and joint impedance (e.g., variable impedance behavior) and in a simplified (parametric) manner. Control techniques inspired by the equilibrium-point hypothesis have been investigated in robot walking ( Chen et al, 2021 ), pedaling ( Watanabe et al, 2020 ), opening doors and drawers ( Jain and Kemp, 2010 ), human neuromuscular surrogate models ( Lenzi et al, 2011 ), and controlling antagonist soft actuators ( Ariga et al, 2012a ; Ariga et al, 2012b ).…”

Section: Introductionmentioning

confidence: 99%

Assisting Forearm Function in Children With Movement Disorders via A Soft Wearable Robot With Equilibrium-Point Control

Realmuto

Sanger²

2022

Front. Robot. AI

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Wearable robots are envisioned to amplify the independence of people with movement impairments by providing daily physical assistance. For portable, comfortable, and safe devices, soft pneumatic-based robots are emerging as a potential solution. However, due to the inherent complexities, including compliance and nonlinear mechanical behavior, feedback control for facilitating human–robot interaction remains a challenge. Herein, we present the design, fabrication, and control architecture of a soft wearable robot that assists in supination and pronation of the forearm. The soft wearable robot integrates an antagonistic pair of pneumatic-based helical actuators to provide active pronation and supination torques. Our main contribution is a bio-inspired equilibrium-point control scheme for integrating proprioceptive feedback and exteroceptive input (e.g., the user’s muscle activation signals) directly with the on/off valve behavior of the soft pneumatic actuators. The proposed human–robot controller is directly inspired by the equilibrium-point hypothesis of motor control, which suggests that voluntary movements arise through shifts in the equilibrium state of the antagonistic muscle pair spanning a joint. We hypothesized that the proposed method would reduce the required effort during dynamic manipulation without affecting the error. In order to evaluate our proposed method, we recruited seven pediatric participants with movement disorders to perform two dynamic interaction tasks with a haptic manipulandum. Each task required the participant to track a sinusoidal trajectory while the haptic manipulandum behaved as a Spring-Dominate system or Inertia-Dominate system. Our results reveal that the soft wearable robot, when active, reduced user effort on average by 14%. This work demonstrates the practical implementation of an equilibrium-point volitional controller for wearable robots and provides a foundational path toward versatile, low-cost, and soft wearable robots.

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Section: Introductionmentioning

confidence: 99%

Assisting Forearm Function in Children With Movement Disorders via A Soft Wearable Robot With Equilibrium-Point Control

Realmuto

Sanger²

2022

Front. Robot. AI

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“…Due to their large body size and payload ratio, heavy-duty robots have the potential to replace large vehicles to accomplish tasks, such as goods transportation and handling equipment in complex environments [5,6]. However, the hexapod robot is a highdimensional non-linear time-varying dynamic system with redundant degrees of freedom (DOF) interacting with multiple environments, which is a great challenge for motion control [7].…”

Section: Introductionmentioning

confidence: 99%

A heuristic control framework for heavy‐duty hexapod robot over complex terrain

Hou

Chai

et al. 2022

IET Cyber-Syst and Robotics

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The large and heavy-duty hexapod robot has strong motion stability and load capacity, which promises to have a wide range of application prospects in rescue and disaster relief. Multi-mode gait and static stability during walking make the hexapod robot adapt to more diverse terrains, while little research has been conducted on the motion control methods of heavy-duty hexapod robots in complex environments. A novel heuristic whole-body motion control framework for the heavy-duty hexapod robot to traverse complex terrain is presented. By splitting the legged locomotion into a single task, the whole-body motion could be planned in a reasonable time. The terrain adaptation strategy is designed to improve the complex terrain passability. Ground reaction forces are then optimised based on single rigid-body dynamics with heuristics. This framework utilised simple but powerful heuristics to approximate complex dynamics and allows for a single set of parameters for all task conditions. Simulation results demonstrate the robustness and adaptability of the proposed framework.

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Dynamics Modeling and Simulation of a Hexapod Robot with a Focus on Trajectory Prediction

Ding

Gao

et al. 2023

J Intell Robot Syst

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Trajectory adaptation of biomimetic equilibrium point for stable locomotion of a large-size hexapod robot

Cited by 7 publications

References 44 publications

Assisting Forearm Function in Children With Movement Disorders via A Soft Wearable Robot With Equilibrium-Point Control

Assisting Forearm Function in Children With Movement Disorders via A Soft Wearable Robot With Equilibrium-Point Control

A heuristic control framework for heavy‐duty hexapod robot over complex terrain

Dynamics Modeling and Simulation of a Hexapod Robot with a Focus on Trajectory Prediction

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