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

Wang, Liangwen; Du, Wenliao; Mu, Xiaoqi; Wang, Xinjie; Xie, Guizhong; Wang, Caidong

doi:10.1016/j.rcim.2015.07.001

Cited by 17 publications

(5 citation statements)

References 26 publications

(24 reference statements)

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“…7 to be recalculated before the remaining angles are computed. As explained in Wang et al [ 40 ], the workspace of a robotic model is, cumulatively, the accessible area that can be referenced by the end effector. Since both sub-modules operate together in a single workspace and the consecutive joints have orthogonal relationship, there is possibility of position offset between the computed and actual target points.…”

Section: Proposed Geometric Methodsmentioning

confidence: 99%

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

et al. 2017

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BackgroundSnake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response.MethodsIn this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot’s workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules.ResultsBoth two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s.ConclusionsThis paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal surgery through minimal invasion or natural orifices. The study showed that the proposed geometric method can resolve IK of the snake-like robot with negligible error offset. Evaluation against well-known methods shows that the proposed method can reach several points in the robot’s workspace with high accuracy and shorter computational time, simultaneously.

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Section: Proposed Geometric Methodsmentioning

confidence: 99%

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

et al. 2017

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“…In addition, for this kind of robot, the obtained solutions, which represent the walking process, need to satisfy overall stability requirements. 21 For example, a distance-based stability criterion is used and the stability of the robot is evaluated according to the diagonal principle. When walking, as long as the vertical projection of the robot’s gravity center is surrounded by the polygon which results from lines connecting footholds of legs of the robot, the robot is stable.…”

Section: Principles Of the Dimensionality-reduction Methods To Solve Tmentioning

confidence: 99%

Improved forward kinematic analysis of a reptile-like four-legged walking robot using a novel dimensionality-reduction method

Wang

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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A new forward kinematic analysis is proposed to describe the motion of a reptile-like four-legged walking robot using a new dimensionality-reduction method. The three standing legs (assuming one leg is swinging) contain nine driven joints. Only six of these joints, however, are independently driven joints. The remaining joints are redundant driven joints. Finding the redundant driven joint angles has been a key problem in improved forward kinematic analysis of a reptile-like forward kinematic analysis. Solving the associated high-order equation, which is derived using the analytic method, is problematic and slow. In this paper, we use a new dimensionality reduction method to solve this problem. First, we deduced the formulas for the redundant driven joint angles. Then, one of the formulas is transformed to take into account the constraint condition. We then use iteration to find solutions for the remaining equations that satisfy the constraint condition. With the help of MATLAB, a solving system for the forward kinematic analysis of this robot is introduced. Our results show two improvements over the conventional method: shorter computation time and higher precision.

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“…Static stability refers to the ability of the system to change when a small disturbance occurs, and the ability of returning to the original state of stable operation when the disturbance disappears. Dynamic stability refers to the ability of the system to maintain the operational stability of a longer process under the action of automatic regulation and control devices after being subjected to small or large disturbances [35] . Common static stability methods include the center of gravity projection method (CGPM) [36] , the static stable boundary method (SSM) [37] and the energy stabilization boundary method (ESM) method [38] .…”

Section: Stability Analysis Of Food Delivery Robotsmentioning

confidence: 99%

Stability analysis of the food delivery robot with suspension damping structure

Shu-hai

Song²,

Zhou³

et al. 2022

Heliyon

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

Cited by 17 publications

References 26 publications

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot

Improved forward kinematic analysis of a reptile-like four-legged walking robot using a novel dimensionality-reduction method

Stability analysis of the food delivery robot with suspension damping structure

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