Ball-on-plate motion planning for six-parallel-legged robots walking on irregular terrains using pure haptic information

Chen, Zhijun; Gao, Feng; Sun, Qiao; Tian, Yuan; Liu, Jimu; Zhao, Yinan

doi:10.1016/j.mechmachtheory.2019.07.009

Cited by 21 publications

(14 citation statements)

References 15 publications

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“…For example, ANYmal [3] and HyQ2Max [15] quadruped robots have pure serial leg mechanisms. PKMs are typically used for the leg structures of high-payload mobile robots [7,8]. The serial-parallel hybrid mechanism has greater rigidity than the SKM with the same DOF and a larger workspace than the PKM with the same DOF [36].…”

Section: Mechanismmentioning

confidence: 99%

“…It is now widely acknowledged that robotic technologies at that time were far from sufficient for carrying out complex rescue operations [5]. Recently, supported by the National Basic Research Program of China (973 Program), a series of hexapod robots with parallel legs were developed by Shanghai Jiao Tong University (SJTU) for firefighting, transportation, and detection in disaster environments, such as nuclear accidents [6][7][8]. The payloads of these hexapod robots can reach up to 500 kg.…”

Section: Introductionmentioning

confidence: 99%

“…In fact, robustness and safety are the key considerations for legged robots in outdoor environments, easily outweighing agility and autonomy. In practice, it is very difficult for current legged robots to be used in real applications in outdoor environments [11]; actually, only a few legged robots take into account the requirements of a specific application, such as nuclear disaster relief (e.g., SJTU hexapod robots [6][7][8]) or inspection of gas and oil sites (e.g., ANYmal [3] and its previous version). In addition, the performances of legged robots are related to many factors, including their mechanisms and actuation, perception, and control methods.…”

Section: Introductionmentioning

confidence: 99%

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Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Gao

2020

Chin. J. Mech. Eng.

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Multilegged robots have the potential to serve as assistants for humans, replacing them in performing dangerous, dull, or unclean tasks. However, they are still far from being sufficiently versatile and robust for many applications. This paper addresses key points that might yield breakthroughs for highly dynamic multilegged robots with the abilities of running (or jumping and hopping) and self-balancing. First, 21 typical multilegged robots from the last five years are surveyed, and the most impressive performances of these robots are presented. Second, current developments regarding key technologies of highly dynamic multilegged robots are reviewed in detail. The latest leg mechanisms with serial-parallel hybrid topologies and rigid–flexible coupling configurations are analyzed. Then, the development trends of three typical actuators, namely hydraulic, quasi-direct drive, and serial elastic actuators, are discussed. After that, the sensors and modeling methods used for perception are surveyed. Furthermore, this paper pays special attention to the review of control approaches since control is a great challenge for highly dynamic multilegged robots. Four dynamics-based control methods and two model-free control methods are described in detail. Third, key open topics of future research concerning the mechanism, actuation, perception, and control of highly dynamic multilegged robots are proposed. This paper reviews the state of the art development for multilegged robots, and discusses the future trend of multilegged robots.

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Section: Mechanismmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Gao

2020

Chin. J. Mech. Eng.

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“…Peng et al [19] proposed a method of motion planning and implementation for the self-recovery of an overturned six-legged robot. Chen et al [20,21] proposed a time-optimal trajectory planning method for a hexapod robot under actuator constraints. Tian et al [22][23][24] decomposed motion planning on irregular terrain into foothold selection and whole body configuration planner.…”

Section: Introductionmentioning

confidence: 99%

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

et al. 2021

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Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

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“…Marko Bjelonic et al [9] introduced a six-legged robot which performs autonomous navigation in unstructured terrain. Feng Gao et al [10][11][12] introduced a six-parallel-legged robot which can walk on irregular terrain while keeping the body balance and complete tasks like opening the door with haptic information. Although some breakthroughs have been made in the studied area of legged robots, the environmental adaptability is still a major issue to be further studied.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance and Terrain Identification for a Hexapod Robot

Zhao

Gao

Yin

2020

Preprint

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Legged robots have advanced potential in mobility compared with wheeled or tracked vehicles in harsh environment. In real applications, both environmental perception and terrain identification play an important role in ensuring the safety of the robot. However, few papers involve the obstacle avoidance and terrain identification methods for legged robots. An obstacle avoidance and terrain identification method is proposed in this paper. Firstly, a novel dynamic obstacle avoidance motion planning is proposed which takes full account of the motion ability of the robot. Secondly, a terrain identification method is proposed. The robot can distinguish typical terrains like flat floor, step-on, step-down, ditch and so on. Besides, the ground properties like stiffness are identified to improve the performance of the robot. Finally, the proposed method is integrated on hexapod robots and tested by real experiments which show the method effective. Our methods and experimental results can be a valuable reference for other legged robots.

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Ball-on-plate motion planning for six-parallel-legged robots walking on irregular terrains using pure haptic information

Cited by 21 publications

References 15 publications

Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Obstacle Avoidance and Terrain Identification for a Hexapod Robot

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