Analysing and solving body misplacement problems in walking robots with round rigid feet

Guardabrazo, Tomás; Jiménez, Martínez; Santos, P. González de

doi:10.1016/j.robot.2005.10.007

Cited by 18 publications

(8 citation statements)

References 17 publications

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“…Even if no slip occurs, the contact point is constantly changing and the body CoM deviates from the desired trajectory as shown in Figure 3B and Supplementary Video S1 . This deviation is attributed to the ball foot-end effector roll as the body moves during the support phase ( Guardabrazo et al, 2006 ). In order to eliminate this modeling error, the required joint rotation angles need to be corrected to eliminate the mismatch between the point-foot model and ball foot ( Kwon and Park, 2014 ).…”

Section: Gait and Center Of Mass Trajectory Planning For Spinning Locomotionmentioning

confidence: 99%

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

et al. 2021

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Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along the sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the center of mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate a stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with linear quadratic regulator (LQR) to bind the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs, and slopes.

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Section: Gait and Center Of Mass Trajectory Planning For Spinning Locomotionmentioning

confidence: 99%

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

et al. 2021

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“…The leg mechanism is attached to the body via a root joint. Here, a semi-round foot with certain radius is used for its significant advantages in adapting to complex terrain [15]. Since the test rig is designed for the compliance control, horizontal and vertical rails with corresponding displacement sensors, a five-dimensional force sensor, and LPC2368-based motor controller are equipped.…”

Section: Mechanical Structure Of Walking Robotmentioning

confidence: 99%

Compliance Control of a Legged Robot Based on Improved Adaptive Control: Method and Experiments

Zhu¹,

Jin²

2016

International Journal of Robotics and Automation

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For the purpose of impact reduction and stable walking of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. According With this characteristic, foot slipping in soft terrains can be avoided. This means the proposed strategy has great benefit for the adaptability and robustness of the hexapod walking robot in complex environment.

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“…3. In order to eliminate the influence of the spherical rigid foot on the position-orientation adjustment, spherical rigid feet are substituted by cuspate feet with the same dimensions (Guardabrazo et al 2006).…”

Section: Linear Tracking Simulationmentioning

confidence: 99%

Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure

Chen

Jin

Chen

2016

Iran. J. Sci. Technol. Trans. Mech. Eng.

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Multi-legged robot often needs to change its body position and orientation in order to walk over different terrain. A useful position-orientation adjustment algorithm is needed to meet the goal. This paper focuses on position-orientation adjustment algorithm of a sixlegged robot which is used to calculate the joint angles when the foothold positions, the center of six-legged robot body and the six-legged robot's orientation are given. Sixlegged robot can move to target position and orientation according to joint angles got by the position-orientation adjustment algorithm. A new approach based on geometry structure is proposed to solve inverse kinematics of the six-legged robot. Furthermore, the inverse kinematics method is used in the position-orientation adjustment algorithm. In addition, a linear tracking simulation is conducted by MATLAB and ADAMS to evaluate the performance of the position-orientation adjustment algorithm, and experiments are done on the six-legged robot to demonstrate the validity of the position-orientation adjustment algorithm.

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Analysing and solving body misplacement problems in walking robots with round rigid feet

Cited by 18 publications

References 17 publications

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Compliance Control of a Legged Robot Based on Improved Adaptive Control: Method and Experiments

Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure

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