Trajectory planning and posture adjustment of a quadruped robot for obstacle striding

Shao, Xuesong; Yang, Yiping; Zhang, Ying; Wang, Wei

doi:10.1109/robio.2011.6181572

Cited by 10 publications

(6 citation statements)

References 20 publications

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“…In the quadruped robot locomotion, stability is the basic requirement for successful walking without tumbling and sliding. Flexibility can be described as the quadruped robot's foot trajectories should be smooth while traversing [13]. The reason of choosing the walking speed as a factor is that the quadruped robot should not only negotiate the challenging terrain successfully but also as fast as possible.…”

Section: Motion Planning Algorithmmentioning

confidence: 99%

“…Similarly, if there are no convex obstacles in all of the sub search areas, the foothold is selected at the nearest point to the median value of the search range for a proper walking stride, otherwise the foothold is chosen at the minimum cost value and a weight larger than 1, for example 1.1, is assigned to the value. What's more, to maintain the stability while moving with walk gait, a posture adjustment strategy based on potential energy is utilized through changing lengths of legs in diagonal to put the center of gravity (COG) into the support polygon [13].…”

Section: Motion Planning Algorithmmentioning

confidence: 99%

“…Each leg has one hip pitch joint and one knee pitch joint, both of which are powered by DC motors. Still, each toe possesses one passive compliant prismatic DOF which can be used to detect the contact between the foot and the ground [13] [21] [22]. The stereo camera is mounted on the pan/tilt platform, and the gyroscope is placed at the center of the quadruped body to sense the attitude.…”

Section: A Locomotion On Complicated Terrainsmentioning

confidence: 99%

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Motion planning and compliant control for a quadruped robot on complicated terrains

Shao

Huang

Wang

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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Quadruped robots have the superiority to locomote on complicated terrains. However, in unknown environments, adaptive locomotion is still a great challenge. Considering the terrains including convex obstacles and forbidden areas, a novel motion planning algorithm is investigated for path planning, gait generation, gait transition and foothold searching. According to the terrain maps built by on-board stereo vision, the quadruped robot chooses the suitable gaits independently. Walk gait is selected on unstructured road segments for more stability while trot gait is employed on flat ground for higher speed. The motion trajectories are performed in the low level compliant control based on the kinematics and the couple dynamics which depends on stance phase and swing phase. The emphases of our inverse dynamics model are the analyses of the couple influences between four legs and the transition between different motion stages. The control architecture is applied on a real quadruped robot, and the experiment results demonstrate the availability of the system.

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Section: Motion Planning Algorithmmentioning

confidence: 99%

Section: Motion Planning Algorithmmentioning

confidence: 99%

Section: A Locomotion On Complicated Terrainsmentioning

confidence: 99%

See 1 more Smart Citation

Motion planning and compliant control for a quadruped robot on complicated terrains

Shao

Huang

Wang

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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“…Walking robots become the hot spots recently at the leading edge of robot research. Various robot prototypes were tested with specific tasks, including BigDog [1,2], FROG-I [3,4], B-elepht [5,6], Hector [7], Crabster [8][9][10][11], PPHex [12][13][14] and many other biomechanics [15,16]. Legs are the key parts of the walking robot structure.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of Walking Robot Legs

Gao

2018

Chin. J. Mech. Eng.

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Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function (GF) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of design. Number synthesis problem is decomposed into two stages, actuation and constraint synthesis by name, corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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“…The remote-controlled robot is attached with a stereo vision camera mounted on the pan/tilt platform [12]. The robot has already achieved obstacle striding by trajectory planning and posture adjustment [13], adaptive walking on different ground substrates through interaction dynamics [14], and locomotion in unknown environments with stereo vision [15]. The purpose of this paper is to propose a COG adjustment approach for the quadruped robot traversing tight spaces which inevitably exist in unstructured environments.…”

Section: Introductionmentioning

confidence: 99%

Stable quadruped walking with the adjustment of the center of gravity

Shao

Wang

2013

2013 IEEE International Conference on Mechatronics and Automation

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The quadruped robot excels in tight space traversing and rough terrain locomotion because of its higher flexibility and better environment adaptability. Aiming at passing through tight spaces with free-collision, an adjustment approach of the Center of Gravity (COG) is designed to realize stable quadruped walking. The Hopf oscillator based Central Pattern Generator (CPG), utilized in this paper, can generate rhythmic control signals with different frequencies for the swing phase and the stance phase. The COG is adjusted through the rhythmic medium value transition, which automatically generates smooth trajectories according to preset parameters. We also propose a rhythmic bias compensation method to maintain the rhythmic medium positions of legs vertical to the ground to alleviate the bump caused by the body pitch. Still, an adjustment technique for the hip motion amplitude is developed to maintain the uniform motion when the robot posture changes. We evaluate the performance of the COG adjustment approach on a simulated quadruped robot model, and the simulation of the tight space negotiating of the robot model demonstrates the stable quadruped locomotion.

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Trajectory planning and posture adjustment of a quadruped robot for obstacle striding

Cited by 10 publications

References 20 publications

Motion planning and compliant control for a quadruped robot on complicated terrains

Motion planning and compliant control for a quadruped robot on complicated terrains

Type Synthesis of Walking Robot Legs

Stable quadruped walking with the adjustment of the center of gravity

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