Control strategy of stable walking for a hexapod wheel-legged robot

Chen, Zhihua; Wang, Shoukun; Wang, Junzheng; Xu, Ke; Lei, Tao; Zhang, Hao; Wang, Xiuwen; Liu, Daohe; Si, Jinge

doi:10.1016/j.isatra.2020.08.033

Cited by 95 publications

(34 citation statements)

References 33 publications

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“…Finally, the next task is to control the mobile robot to track the human movement point using predictive tracking controller. At the same time, the neural networks are used to evaluate the uncertain interaction in the tracking process [7,20,24,27,28]. Figure 2 displays the kinematic model and turning model of the robot.…”

Section: Tracking Controller Developmentmentioning

confidence: 99%

Human–robot skill transmission for mobile robot via learning by demonstration

Wang

et al. 2021

Neural Comput & Applic

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This paper proposed a skill transmission technique for the mobile robot via learning by demonstration. When the material is transported to the designated location, the robot can show the human-like capabilities: autonomous tracking target. In this case, a skill transmission framework is designed, which the Kinect sensor is utilized to distinguish human activity recognition to create a planned path. Moreover, the dynamic movement primitive method is implemented to represent the teaching data, and the Gaussian mixture regression is utilized to encode the learning trajectory. Furthermore, in order to realize the accurate position control of trajectory tracking, a model predictive tracking control is investigated, where the recurrent neural network is used to eliminate the uncertain interaction. Finally, some experimental tasks using the mobile robot (BIT-6NAZA) are carried out to demonstrate the effectiveness of the developed techniques in real-world scenarios.

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Section: Tracking Controller Developmentmentioning

confidence: 99%

Human–robot skill transmission for mobile robot via learning by demonstration

Wang

et al. 2021

Neural Comput & Applic

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“…Movement, navigation, and obstacle avoidance are crucial aspects of all robotic systems, irrespective of robot design, application field, and performed tasks (e.g., [ 15 , 16 , 17 ].) While most agricultural robots move on fields and navigate their path along crop or orchard rows [ 3 , 8 , 15 , 18 ], lawn mowers traverse soft surfaces, require high maneuverability, and navigate through an area which is quite uniform with no natural landmarks to follow.…”

Section: Related Workmentioning

confidence: 99%

Obstacle Detection System for Agricultural Mobile Robot Application Using RGB-D Cameras

Skoczeń

Ochman

Spyra³

et al. 2021

Sensors

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Mobile robots designed for agricultural tasks need to deal with challenging outdoor unstructured environments that usually have dynamic and static obstacles. This assumption significantly limits the number of mapping, path planning, and navigation algorithms to be used in this application. As a representative case, the autonomous lawn mowing robot considered in this work is required to determine the working area and to detect obstacles simultaneously, which is a key feature for its working efficiency and safety. In this context, RGB-D cameras are the optimal solution, providing a scene image including depth data with a compromise between precision and sensor cost. For this reason, the obstacle detection effectiveness and precision depend significantly on the sensors used, and the information processing approach has an impact on the avoidance performance. The study presented in this work aims to determine the obstacle mapping accuracy considering both hardware- and information processing-related uncertainties. The proposed evaluation is based on artificial and real data to compute the accuracy-related performance metrics. The results show that the proposed image and depth data processing pipeline introduces an additional distortion of 38 cm.

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“…On the one hand, the automatic development of such cooperative tasks requires the use of human compatible devices in order to avoid collisions or actions that can harm people, mainly using laser range sensors [1,2], depth cameras [3,4], or surveillance systems [5]. On the other hand, the automatic development of cooperative tasks requires the use of human compatible devices moving like people in common spaces designed for people, mainly using legs [6], omnidirectional wheels [7], or hybrid legs [8,9].…”

Section: Introductionmentioning

confidence: 99%

“…However, it must be expected that the use of a suboptimal omnidirectional wheel will generate higher vibrations during the rotations, so the question that arises is whether the existing passive suspension system will be able to also reduce the higher vibrations generated by a suboptimal omnidirectional wheel. If the answer to this question is no, then the use of suboptimal omnidirectional wheels in APR mobile robots will require further improvements such as the implementation of active control strategies focused on the problem originated by the impact of the suboptimal omnidirectional wheel with the floor, as is done, for example, in hexapod wheel-legged robots [9]. However, this paper proves that the answer to this question is yes, the existing passive suspension system is able to reduce the transmission of vibrations from the wheel to the head of a tall APR mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Suboptimal Omnidirectional Wheel Design and Implementation

Palacín

Martínez

Rubies

et al. 2021

Sensors

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The optimal design of an omnidirectional wheel is usually focused on the minimization of the gap between the free rollers of the wheel in order to minimize contact discontinuities with the floor in order to minimize the generation of vibrations. However, in practice, a fast, tall, and heavy-weighted mobile robot using optimal omnidirectional wheels may also need a suspension system in order to reduce the presence of vibrations and oscillations in the upper part of the mobile robot. This paper empirically evaluates whether a heavy-weighted omnidirectional mobile robot can take advantage of its passive suspension system in order to also use non-optimal or suboptimal omnidirectional wheels with a non-optimized inner gap. The main comparative advantages of the proposed suboptimal omnidirectional wheel are its low manufacturing cost and the possibility of taking advantage of the gap to operate outdoors. The experimental part of this paper compares the vibrations generated by the motion system of a versatile mobile robot using optimal and suboptimal omnidirectional wheels. The final conclusion is that a suboptimal wheel with a large gap produces comparable on-board vibration patterns while maintaining the traction and increasing the grip on non-perfect planar surfaces.

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Control strategy of stable walking for a hexapod wheel-legged robot

Cited by 95 publications

References 33 publications

Human–robot skill transmission for mobile robot via learning by demonstration

Human–robot skill transmission for mobile robot via learning by demonstration

Obstacle Detection System for Agricultural Mobile Robot Application Using RGB-D Cameras

Suboptimal Omnidirectional Wheel Design and Implementation

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