Behavior-Based Control Architecture for Legged-and-Climber Robots

Hernando, Miguel; Alonso, Mercedes; Prados, Carlos; Gambao, Ernesto

doi:10.3390/app11209547

Cited by 10 publications

(15 citation statements)

References 23 publications

(26 reference statements)

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“…ROMERIN is the evolved and modular version of the ROMHEX hexapod climbing and legged robot. 4 However, in this case, the robot mainly develops the concept of modularity, resilience, energy sharing, and adaptability.…”

Section: Introductionmentioning

confidence: 99%

ROMERIN: A new concept of a modular autonomous climbing robot

Hernando

Gambao

Prados

et al. 2022

International Journal of Advanced Robotic Systems

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Climbing robots play an essential role in performing inspection work in civil infrastructures. These tasks require autonomous robots with competitive costs and the ability to adapt to different types of environments. This article presents ROMERIN, a new concept of a modular legged climbing robot where each leg is an autonomous robotic module in terms of processing capacity, control, and energy. The legs are equipped with suction cups that allow the robot to adhere to different types of surfaces. The proposed design allows the creation of climbing robots with a different number of legs to perform specific inspection tasks. Although each of the legs acts as an independent robot, they have the ability to share information and energy. The proposed control concept enables the development of climbing robots with the ability to adapt to different types of inspection tasks and with resilience characteristics. This article includes a description of the mechatronic design, the kinematics of the seven degree-of-freedom robotic legs, including the adhesion system, and the architecture of the control and simulation system. Finally, we present experimental results to test the modularity concept, mechanical design, and electronics using a four-legged robot configuration. We analyze the performance of the gripping system in different situations on four different surfaces and the behavior of the control architecture for two different robot body trajectories.

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Section: Introductionmentioning

confidence: 99%

ROMERIN: A new concept of a modular autonomous climbing robot

Hernando

Gambao

Prados

et al. 2022

International Journal of Advanced Robotic Systems

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“…Locomotion analysis is an important duty for legged robots to move within the environment. The walking and climbing strategies we presented with the ROMHEX robot [ 17 ] can be adapted for the ROMERIN and other L&C robots. Locomotion for the organisms proposed in this article requires a generalization of the problem and a path planner that guarantees the robot’s safety, such as preventing suction cups from coming off and motors to overheat.…”

Section: Introductionmentioning

confidence: 99%

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

et al. 2022

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MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the modules of an organism with any morphology, at the same time allowing exchanges between the physical robot and its digital twin. It includes the basic layers to control and coordinate all the elements, while allowing adding new higher-level components to improve the organism’s behavior. It is focused on the control of both the body and the legs of the organism, allowing for position and velocity control of the whole robot. Similarly to insects, which are able to adapt to new situations after the variation on the capacity of any of their legs, MoCLORA allows the control of organisms composed of a variable number of modules, arranged in different ways, giving the overall system the versatility to tackle a wide range of tasks in very diverse environments. The article also presents ROMERIN, a modular climbing and legged robotic organism, and its digital twin, which allows the creation of different module arrangements for testing. MoCLORA has been tested and validated with both the physical robot and its digital twin.

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“…In the construction of the control hardware architecture, the distribution of CPU systems, the layout of thrusters, the data acquisition of sensors, etc., are mainly considered [11] . However, the different power supply modes and operation depth will affect the structural layout of the ROV body [12,13] . Thus, there will be a great difference in the control hardware architecture.…”

Section: Introductionmentioning

confidence: 99%

Developing and testing a remotely operated vehicle with a seven-function manipulator

Wang¹,

Chu²

2022

CES

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This paper presents the development and testing of a remotely operated vehicle (ROV). The outstanding ability of this ROV lies in its underwater hovering positioning control. At the same time, it is equipped with a seven-function underwater electric operation manipulator and the master-slave control mode is adopted. These are obvious advantages over other medium-sized ROVs. The control hardware architecture and control software architecture of this ROV are also provided. Finally, the test results of the depth trajectory tracking control, heading trajectory tracking control and hover control in the lake environment are presented and analyzed.

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Behavior-Based Control Architecture for Legged-and-Climber Robots

Cited by 10 publications

References 23 publications

ROMERIN: A new concept of a modular autonomous climbing robot

ROMERIN: A new concept of a modular autonomous climbing robot

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

Developing and testing a remotely operated vehicle with a seven-function manipulator

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