A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Luneckas, Mindaugas; Luneckas, Tomas; Udris, Dainius; Plonis, Darius; Maskeliūnas, Rytis; Damaševičius, Robertas

doi:10.1007/s11370-020-00340-9

Cited by 21 publications

(9 citation statements)

References 71 publications

(70 reference statements)

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“…In comparison to visual systems that need processing time, this approach allows for reactive responses to barriers and is practically immediate. Tactile sensors can also be employed in low-light or no-light situations, where a computer visionbased solution would be ineffective [17].…”

Section: Related Workmentioning

confidence: 99%

Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework

Refaai

Meenatchi

Ramesh³

et al. 2022

Advances in Materials Science and Engineering

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Spherical robots are a recent technique and have attracted attention due to their capacity to move at high speeds while maintaining great locomotion efficiency. Many research studies have been undertaken on spherical robots’ driving mechanisms, motion planning, and trajectory tracking systems, but only a few studies have been completed on their obstacle avoidance capacity. Its interfering prevention method was “hit and run” due to the existence of a sealed outer shell. This is convenient because of the spherical robots’ unique shape. It might cause major problems when the robots are light and small in size. A high-speed collision with a hard surface might harm the robot or the camera in portable spherical robots with onboard cameras. In this article, a magnetic field-based interference detection and prevention system for a tiny spherical robot has been established. The proximity sensor uses a passive magnetic field to detect ferromagnetic barriers by causing the magnetic field to be perturbed. It makes use of a passive magnetic field to keep the system small and power-effective. Because the suggested system can sense not only the existence of a ferromagnetic barrier but also its approaching direction, an intelligent avoidance behaviour may be developed by combining the detection information with the trajectory tracking technique. It amplifies the disturbance effectively and hence increases the detection performance. To improve obstacle detection performance, design optimization is carried out and specific avoidance techniques are designed.

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Section: Related Workmentioning

confidence: 99%

Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework

Refaai

Meenatchi

Ramesh³

et al. 2022

Advances in Materials Science and Engineering

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“…It proposed a heuristic algorithm to switch gait based on the current speed, which can take full advantage of the gait diversity for a hexapod robot. Based on tactile sensors, References [24,25] designed leg trajectories for traversing obstacles and optimized the energy efficiency for trajectory transformation. Reference [26] optimized the mechanical structure and gait parameters simultaneously for a hydraulic hexapod robot to minimize energy consumption.…”

Section: Related Workmentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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Gait is an important research content of hexapod robots. To better improve the motion performance of hexapod robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies the straight gait of a small electric hexapod robot with a low cost, which can be used in daily life. The strategy of “increasing duty factor” is put forward in the gait planning, which aims to reduce foot sliding and attitude fluctuation in robot motion. The straight gaits of the robot include tripod gait, quadrangular gait, and pentagonal gait, which can be described conveniently by discretization and a time sequence diagram. In order to facilitate the user to control the robot to achieve all kinds of motion, an online gait transformation algorithm based on the adjustment of foot positions is proposed. In addition, according to the feedback of the actual attitude information, a yaw angle correction algorithm based on kinematics analysis and PD controller is designed to reduce the motion error of the robot. The experiments show that the designed gait planning scheme and control algorithm are effective, and the robot can achieve the expected motion. The RMSE of the row, pitch, and yaw angle was reduced by 35%, 25%, and 12%, respectively, using the “increasing duty factor” strategy, and the yaw angle was limited in the range −3°~3° using the yaw angle correction algorithm. Finally, the comparison with related works and the limitations are discussed.

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“…Luneckas et al demonstrated a hexapod robot overcoming complex obstacles based only on the use of tactile sensors attached to its legs. [ 58 ] Mrva et al proposed a hexapod robot that only utilized the torque and position outputs of servo motors at the joints to estimate the contact points of obstacles without extrinsic tactile sensing. [ 59 ] While most studies on the tactile sensing capability have focused on overcoming unstructured environments with obstacles, our study using soft inflatable sensing skin additionally demonstrates the potential for better impact mitigation and dynamic human–robot–environment whole‐body interaction by accurately estimating force magnitude and location.…”

Section: Introductionmentioning

confidence: 99%

Environmental Adaptability of Legged Robots with Cutaneous Inflation and Sensation

Kim,

Lee,

Chang

et al. 2023

Advanced Intelligent Systems

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In this article, a novel approach to enhance the maneuverability and adaptability of legged robots in challenging environments is proposed. This approach involves the integration of soft inflatable sensing skin, which provides additional mobile modes and environmental adaptability. The inflated skin's structural properties, such as buoyancy, volumed shape, and physical compliance, enable quadruped robots to extend their mobility to stable swimming and crawling modes. The inflated skin also offers physical protection through cushioning and backing effects, allowing robots to roll down stair‐like structures. Furthermore, the integration of tactile sensors provides the host robot with accurate and intuitive contact information, enabling increased environmental adaptability and responsive behavior. The robot can protect itself from impacts, detect and detour obstacles, and dynamically interact with its surrounding environment. Overall, the proposed approach offers a synergistic integration of soft inflatable sensing skin and tactile sensors to enhance legged robots’ maneuverability and adaptability in harsh environments. The integrated system enables robots to achieve challenging missions, extending their capabilities beyond conventional locomotive modes. The proposed approach has significant potential applications in fields such as search and rescue, surveillance, and exploration.

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A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Cited by 21 publications

References 71 publications

Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework

Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework

Straight Gait Research of a Small Electric Hexapod Robot

Environmental Adaptability of Legged Robots with Cutaneous Inflation and Sensation

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