Control oriented model-based simulation and experimental studies on a compliant legged quadruped robot

Gor, M. M.; Pathak, Pushparaj Mani; Samantaray, Arun Kumar; Yang, Jinming; Kwak, Seong Woo

doi:10.1016/j.robot.2015.06.001

Cited by 28 publications

(24 citation statements)

References 28 publications

(33 reference statements)

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“…So, optimizing the compliance is required for a specific robot configuration. Such a design is facilitated by simulating the model of quadruped [13,14] with some initial assumptions of link and body parameters and then evolving the design through parameter variations. Number of simulations can be carried out by varying the stiffness and resistance, and its values can be finalized for maximum locomotion speed and minimum posture disturbance of robot.…”

Section: Compliant Linkmentioning

confidence: 99%

“…Modeling of a quadruped robot consists of a modeling of translational and angular dynamics of robot body and legs. The detailed discussion of bond graph model of quadruped robot is covered in our previous publications [13,14]. Model of the two-DOF planar robot, discussed in Sect.…”

Section: Dynamic Model Of the Robotmentioning

confidence: 99%

“…Model of the two-DOF planar robot, discussed in Sect. 3.1, is appended on the bond graph model of the quadruped robot given in [13,14]. Using common flow junction (1 junction 7) and (8), respectively, for links P1 and P2.…”

Section: Dynamic Model Of the Robotmentioning

confidence: 99%

“…Modeling of geared motors of two-DOF robot is same as modeling of geared motor of quadruped robot discussed in our publication [14]. The translational velocity and the angular velocity vectors have been resolved into three mutually perpendicular components, and their dynamics can be modelled with Euler junction structure (EJS).…”

Section: Dynamic Model Of the Robotmentioning

confidence: 99%

“…Main objective behind this development is to explore untouched research areas in quadruped robots such as reconfiguration, fault tolerant control, posture control, etc. The design is based on extensive modeling and simulation studies published earlier [13][14][15]. In this paper, fault tolerant control through reconfiguration is proposed.…”

Section: Introductionmentioning

confidence: 99%

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Development of a compliant legged quadruped robot

et al. 2018

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This paper presents the detailed steps for design and development of a compliant legged fault tolerant quadruped robot where each leg has two links and two motorized revolute joints for locomotion. The body and upper links of legs are rigid whereas the lower link of each leg is compliant. Amble gait is demonstrated on the developed robot. Safety and reliability are the most critical issues for the quadruped robot. During the failure of any joint, performance of quadruped robot is affected. In this paper, locked joint failure is also discussed. Strategies for fault tolerant control of the quadruped are developed and experimentally validated. The developed robot can be used for various hardware-in-the-loop controller prototyping such as reconfiguration, fault tolerant control, and posture control, etc. pertaining to quadruped robots.

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Section: Compliant Linkmentioning

confidence: 99%

Section: Dynamic Model Of the Robotmentioning

confidence: 99%

Section: Dynamic Model Of the Robotmentioning

confidence: 99%

Section: Dynamic Model Of the Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Development of a compliant legged quadruped robot

et al. 2018

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Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high‐speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two‐legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open‐loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°‐inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.

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