Biologically inspired control of quadruped walking robot

Koo, Ig Mo; Kang, Tae Hun; Vo, Gia Loc; Trong, Tran Duc; Song, Young Kuk; Choi, Hyouk Ryeol

doi:10.1007/s12555-009-0409-z

Cited by 11 publications

(6 citation statements)

References 11 publications

(9 reference statements)

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“…Since the proposed actuator is embedded in a legged robot, the leg becomes compact, mechanically simple and lightweight. Besides, the legged robot with the proposed actuator can exhibit walking behavior that is similar to those of other walking robots [2,35,36]. The design of this leg is addressed in detail in this report and experimental verifications are presented.…”

Section: Introductionmentioning

confidence: 91%

“…The design of the legged robot is biologically inspired from the leg mechanism of mammals, which is illustrated in figure 14. This legged robot employs two rotary joints at the hip and hinge joints to stretch and demonstrate biomimetic walking similar to other walking robots [2,35,36]. The details of this legged robot are described in the following sections.…”

Section: Design and Operation Of The Biomimetic Legged Mechanismmentioning

confidence: 99%

“…A wide variety of biomimetic legged robots, mostly driven by servomotors and hydraulic actuators, have been developed. These actuators show acceptable performance and produce great results in robots such as BigDog [1], AiDin [2], and Cheetah [3]. One of these robots, BigDog, developed by Boston Dynamics, has a variety of locomotion behaviors and can adapt to different terrains.…”

Section: Introductionmentioning

confidence: 99%

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A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

Nguyen¹,

Phung²,

Nguyen³

et al. 2014

Smart Mater. Struct.

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A kind of dielectric elastomer (DE) material, called 'synthetic elastomer', has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators.

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Section: Introductionmentioning

confidence: 91%

Section: Design and Operation Of The Biomimetic Legged Mechanismmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

Nguyen¹,

Phung²,

Nguyen³

et al. 2014

Smart Mater. Struct.

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“…Also recently, various control strategies of the walking machines were usually tested by other researches using different commercial software such as MATLAB [2,12,13], ADAMS [12,[14][15][16], or the Open Dynamics Engine [17,18]. It shows that investigations of walking robots are still challenging for researches and focus their attention.…”

Section: A Brief Summary Of Our Chosen Previous Studies Related To Wamentioning

confidence: 99%

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

Grzelczyk¹,

Awrejcewicz²

2020

Dynamical Systems Theory

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In this chapter, we developed and investigated numerically a general kinematic model of a multi-legged hybrid robot equipped with a crab-like and/or mammallike legs. To drive the robot's limbs, a novel generator of gait was employed and tested. The simulation model developed in Mathematica is suitable for virtual study and visualization of the locomotion process. In contrast to our previous papers, in this study we focused especially on precise control of the position of the robot during walking in different directions. In our study we were able to simultaneously control all six spatial degrees of freedom of the robot's body, as well as all the robot's legs. Therefore, the investigated robot can be considered and used as a fully controlled walking Stewart platform. What is more, the used algorithm can also be successfully employed to coordinate and control all limbs of the robot on unstable or vibrating ground. As an example, it can be used to stabilize spatial position of the robot when the supporting ground becomes vibrating or unstable, and it will keep the robot stable and prevent it from falling over. Eventually, the developed simulation algorithms can be relatively simply adopted to control real constructions of different multi-legged robots.

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“…Another important design for quadruped robot is the driving type of the joint, which influences the motion accuracy and reliability of the robot. For instance, direct driving through gears has high motion accuracy but always with actuators swinging with the leg, such as AIBO [15] and AiDIN [16], causing relative large inertial that needs more power to compensate. Another commonly used driving type is utilizing pulley and belt, or roller and rope.…”

Section: Introductionmentioning

confidence: 99%

Mechanical Design of A Modular Quadruped Robot - Xdog

Xie¹,

Shang²,

Zhang³

et al. 2014

Proceedings of the 2014 International Conference on Mechatronics, Electronic, Industrial and Control Engineering

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This article presents the mechanical design of a modular quadruped robot, named XDog. The leg mechanism of XDog has coplanar hip joints with the leg apart from the body to increase the motion range of the hip joint. Gear pair is used to drive each joint to promise high motion accuracy and compact assembling. Based on the leg mechanism and driving type, only one actuator is mounted on the leg with others in the torso to reduce the mass of the leg. Moreover, the leg design is modularized in a bilateral way, making each leg is capable for left or right side, and for forward or backward direction of the body. The mechanical design of XDog robot has advantages in large range of joint motion, lightweight leg, compact and high-accuracy driving system, and modular leg mechanism, making this design practical for developing a quadruped robot platform.

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Biologically inspired control of quadruped walking robot

Cited by 11 publications

References 11 publications

A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

Mechanical Design of A Modular Quadruped Robot - Xdog

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