A study on optimal formulation for multi-legged gait robot with redundant joint

Hirakoso, Nobuto; Terayama, Junya; Yoshinaga, Naoya; Tamura, R.; Hatori, Tatsuya; Hirama, Yusuke; Choi, Woong; Shigematsu, Yoichi; Kawabata, Hironoshin; Arai, Tadao

doi:10.1109/mhs.2017.8305233

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2018

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“…Walking robots have to walk following a certain pattern of leg movement, namely, the gaits. Hirakoso et al [22] developed a multi-legged gait prototype robot with four legs consisted of redundant joint. An optimal control system was proposed to control any motion for the four-legged robot with redundant joint.…”

Section: Introductionmentioning

confidence: 99%

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Meng

Bai

et al. 2018

Robotics

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The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

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Section: Introductionmentioning

confidence: 99%