Walking robot with supervisory control

Gurfinkel, V. S.; Gurfinkel, E.V.; Shneider, A. Yu.; Devjanin, E.A.; Lensky, A. V.; Shtilman, L.G.

doi:10.1016/0094-114x(81)90047-1

Cited by 46 publications

(15 citation statements)

References 2 publications

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“…The locomotion, including by-passing and climbing over obstacles (including the stair-type ones) was controlled automatically. The main geometric and mass parameters of the machine are as follows: the body length 0,7 m and width 0,21 m correspondingly, length of leg 0,28 m, mass is 22 kg, maximal speed 0,25 m/s (Gurfinkel et al, 1981;Gurfinkel et al, 1982;Devjanin et al, 1983).…”

Section: The First Steps Of Development Of Multi-legged Walking Machimentioning

confidence: 99%

Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing

Schneider¹,

Schmucker²

2006

Mobile Robotics, Moving Intelligence

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Section: The First Steps Of Development Of Multi-legged Walking Machimentioning

confidence: 99%

Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing

Schneider¹,

Schmucker²

2006

Mobile Robotics, Moving Intelligence

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“…The inhomogeneity of the soil's mechanical properties and the unevenness of the surface may disturb vehicle motion considerably. A more complicated approach is a locomotion cycle with an adaptation zone (Gurfinkel et al, 1981). In order for a leg to strike the supporting surface in the adaptation zone, body position must be stabilized in relation to the support surface (roll, pitch and clearance), compensating for leg sinkage.…”

Section: Basic Approaches To Locomotion Over Soft Soilmentioning

confidence: 99%

Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of Legged Vehicles

Schneider¹,

Schmucker²

2006

Mobile Robotics, Moving Intelligence

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“…Firstly, the statically stable robots, their motion is such that the projection of the mass center is always inside the support polygon i.e, polygon formed by the stance feet, see for example (Gurfinkel et al, 1981;Kaneko et al, 1985;Klein and Briggs, 2000;Hirose and Kato, 2000;Saranli et al, 2001;Conte et al, 2003;Estremera et al, 2003). Usually, only slow motions are achieved in the static stability mode, see (Ting et al, 1994).…”

Section: Introductionmentioning

confidence: 99%

Numerical and experimental study of the virtual quadrupedal walking robot-semiquad

Aoustin¹,

Chevallereau²,

Formal’sky

2006

Multibody Syst Dyn

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Abstract. SemiQuad is a prototyped walking robot with a platform and two double-link legs. Thus, it is a five-link mechanism. The front leg models identical motions of two quadruped's front legs, the back leg models identical motions of two quadruped's back legs. The legs have passive (uncontrolled) feet that extend in the frontal plane. Due to this the robot is stable in the frontal plane. This robot can be viewed as a "virtual" quadruped. Four DC motors drive the mechanism. Its control system comprises a computer, hardware servo-systems and power amplifiers. The locomotion of the prototype is planar curvet gait. In the double support our prototype is statically stable and over actuated. In the single support it is unstable and under actuated system. There is no flight phase. We describe here the scheme of the mechanism, the characteristics of the drives and the control strategy. The dynamic model of the planar walking is recalled for the double, single support phases and for the impact instant. An intuitive control strategy is detailed. The designed control strategy overcomes the difficulties appeared due to unstable and under actuated motion in the single support.Due to the control algorithm the walking regime consists of the alternating different phases. The sequence of these phases is the following. A double support phase begins. A fast bend and unbend of the front leg allows a lift-off of the front leg. During the single support on the back leg the distance between the two leg tips increases. Then an impact occurs and a new double support phase begins. A fast bend and unbend of the back leg allows the lift-off of the back leg. During the single support on the front leg the distance between the two leg tips decreases to form a cyclic walking gait.The experiments give results that are close to those of the simulation.

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Walking robot with supervisory control

Cited by 46 publications

References 2 publications

Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing

Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing

Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of Legged Vehicles

Numerical and experimental study of the virtual quadrupedal walking robot-semiquad

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