Dynamic walking of JINPOONG on the uneven terrain

Cho, Jungsan; Kim, Jin Tak; Park, Sangdeok; Kim, Kab-Il

doi:10.1109/urai.2013.6677314

Cited by 9 publications

(5 citation statements)

References 3 publications

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“…Since 2007, the laboratory of the dynamic leg system of the Italian Institute of technology has developed three hydraulic quadruped robots HyQ 14–16 (Figure 1(c)), MiniHyQ, 17 HyQ2Max 18,19 (Figure 1(d)), to study the running, jumping and obstacle surmounting ability of quadruped robots. Jinpoong 20–22 (Figure 1(e)), a hydraulic driven quadruped robot, developed by the Korea Institute of industrial technology in 2014, has a more compact structure, compared to the old version of the quadruped robot. Since 2011, China has invested more in the research of the quadruped robot, as many Chinese universities have developed their robots, aiming to promote the development of hydraulically driven quadruped robots.…”

Section: Research Status Of Quadruped Drivementioning

confidence: 99%

Design and driving model for the quadruped robot: An elucidating draft

Yao

2021

Advances in Mechanical Engineering

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Recent developments in driving mode have heightened the need for quadruped robots. However, it is still a challenge to improve the dynamic characteristics. This paper makes a comprehensive review of the quadruped robot driving mode, from two aspects: hydraulic drive and motor drive. The application of hydraulic drives in quadruped robots is relatively mature. As motor performance is improving, interest in motor driving mode for quadruped robots is growing rapidly. Specific quadruped robots of milestone significance are presented in different driving modes. The performance in load capacity and motion characteristics, in different driving modes, are compared. Finally, the research difficulties in the field of quadruped robots are analyzed, while future development of the quadruped robot shows high prospects. The purpose of this paper is to summarize and analyze the previous research results and provide useful guidance for robot designers in developing more efficient driving modes for quadruped robots.

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Section: Research Status Of Quadruped Drivementioning

confidence: 99%

Design and driving model for the quadruped robot: An elucidating draft

Yao

2021

Advances in Mechanical Engineering

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“…ANYmal develops a cascaded joint torque, position, and impedance control to realize the joint tracking very accurately [32]. JINPOONG uses a PD plus feed-forward controller to walk stably on uneven terrain [33]. Chen et al utilized a virtual model control (VMC) in SCalf-II to reduce the contact force by 35.7% [15].…”

Section: Introductionmentioning

confidence: 99%

Design and Development of an Embedded Controller for a Hydraulic Walking Robot WLBOT

Liu

Zhang²,

Jin

et al. 2021

Applied Sciences

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In order to meet the requirement for the real-time of the hydraulic walking robot (WLBOT) and the stability of its movement, an embedded controller is proposed, which takes charge of multi-sensor information processing and signal output of the servo valve. The controller is capable of receiving control command and sending processed information while communicating with an embedded single board computer PCM-3365 via Control Area Network (CAN) bus at a 200 Hz frequency. In this paper, an appropriate interrupt cycle is selected and a 2 kHz high-speed control loop is run after we research the relationship between analog-to-digital converter direct memory access (ADC–DMA) interrupt cycle, data volume, and sampling rate. Significantly, the control strategy of WLBOT joint is introduced and a proportional-integral-derivative (PID) compound controller with velocity feedforward compensation (VFC) is realized. Meanwhile, the Chebyshev filtering algorithm is utilized to attenuate the vibration noise of joint signals. What’s more, an impedance controller is designed to gain better locomotion behavior and compliance in joint force control. Finally, the joint angle tracking and robot walking experiments are implemented, where the feasibility of the design and the validity of the control algorithm is verified. The results show that the PID velocity feedforward compensation controller can reduce the maximum tracking error by 39.13% and 71.31% in the knee and hip joint and the impedance control can reduce the standard deviation (SD) of the foot force by 36.06% and 72.79%.

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“…The overall advantages of the legged robot lies in that its has good motion performance in unstructured environment, strong terrain adaptability and load capacity, and have broad application prospects in complex working environments such as security patrol inspection, field transportation, fire rescue, and geological exploration [1][2][3][4] . Since the 21st century, a number of advanced quadruped bionic robots have been born in the field of robotics.…”

Section: Introductionmentioning

confidence: 99%

An Improved DDPG and Its Application Based on the Double-Layer BP Neural Network

Zhang

Gao

et al. 2020

IEEE Access

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This paper focused on three application problems of the traditional Deep Deterministic Policy Gradient(DDPG) algorithm. That is, the agent exploration is insufficient, the neural network performance is unsatisfied, the agent output fluctuates greatly. In terms of agent exploration strategy, network training algorithm and overall algorithm implementation, an improved DDPG method based on double-layer BP neural network is proposed. This method introduces fuzzy algorithm and BFGS algorithm based on Armijo-Goldstein criterion, improves the exploration efficiency, learning efficiency and convergence of BP neural network, increases the number of layers of BP neural network to improve the fitting ability of the network, and adopts periodic update to ensure the stable operation of the algorithm. The experimental results show that the deep learning network based on the improved DDPG algorithm has greatly improved the performance compared with the traditional method after multiple rounds of self-learning under variable working conditions. This study lays a theoretical and experimental foundation for the extended application of deep learning algorithm.

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Dynamic walking of JINPOONG on the uneven terrain

Cited by 9 publications

References 3 publications

Design and driving model for the quadruped robot: An elucidating draft

Design and driving model for the quadruped robot: An elucidating draft

Design and Development of an Embedded Controller for a Hydraulic Walking Robot WLBOT

An Improved DDPG and Its Application Based on the Double-Layer BP Neural Network

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