Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG)

Sihite, Eric; Mottis, Benjamin; Ghanem, Paul; Ramezani, Alireza; Gharib, Morteza

doi:10.1109/cdc51059.2022.9992754

Cited by 4 publications

(3 citation statements)

References 18 publications

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“…[15][16][17] Some robots exhibit multiplemotion modes, enabling movements across different terrains, including the ground, walls, air, and underwater. [18][19][20][21][22][23] In addition, effective morphological adaptation for stability improvement involves lowering the centre of mass (COM) or increasing the stabilising support domain. Lateral limb extension reptiles, such as geckos and lizards, have excellent motion stability, inspiring the design of creeping robotic mechanisms.…”

Section: Introductionmentioning

confidence: 99%

“…The latter approach offers a larger working space than the former method and can also efficiently adjust the robot's sprawl posture to adapt to different motion requirements. [18,[40][41][42] In this study, a novel 8-DOF quadrupedal robot was designed without a dorsal-ventral distinction by integrating the Hawken mechanism into the robot leg's structure. This robot was equipped with two postures, upright and prone, along with the ability to swiftly transition between them.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design of a Quadruped Robot with Morphological Adaptation through Reconfigurable Sprawling Structure and Method

Yuan,

Wang,

Wang

et al. 2024

Advanced Intelligent Systems

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Morphological adaptation is crucial for animals and robots in navigating unstructured environments. In this article, a quadruped robot with a reconfigurable sprawl posture and posture transformation strategy is proposed, which can transform between different sprawl postures to cope with complex environments and adapt to a dorsal downward fall posture through reverse sprawling. First, the function and structure of the robot are described, including an analysis of the Hawken mechanism's endpoint trajectories and a regional examination of the robot leg's fundamental components, establishing a relationship between the trajectory characteristics and linkage length. Second, the robot posture transformation strategy is analysed, obtaining the geometric dimensional constraints and feasibility regions of the posture transformation. The posture transformation process is quantified, and the robot transformation gait and drive functions are designed. The robot gait and velocity regulation are implemented based on a neural control architecture. Finally, the robot's locomotion and posture transformation are tested using four high‐speed cameras. The results show that the robot can crawl on an inclined surface and continue crawling in a dorsal downward posture post‐fall. Additionally, the robot effectively navigates obstacles and narrow spaces after posture transformation.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design of a Quadruped Robot with Morphological Adaptation through Reconfigurable Sprawling Structure and Method

Yuan,

Wang,

Wang

et al. 2024

Advanced Intelligent Systems

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Motion planning and contact force distribution for heavy‐duty hexapod robots walking on unknown rugged terrains

Ding,

Gong,

et al. 2024

Journal of Field Robotics

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Heavy‐duty hexapod robots have impressive stability, high load‐bearing capacity, and exceptional adaptability to rugged terrains. They are capable of working in challenging outdoor environments such as planetary exploration, disaster relief and mountain transportation. Their ability to traverse terrain requires effective motion planning and accurate force distribution, neither of which is currently at the level required for widespread practical applications. In this paper, the mechanical legs are divided into support and swing legs, and the adaptability of the hexapod robot to unknown rugged terrain is enhanced by introducing the Decomposition Quadratic Programming‐based Contact Force Distribution (DQP‐based CFD) method. Moreover, an efficient replanning strategy can handle accidental collisions between swinging legs and unmodelled obstacles. Extensive field experiments demonstrate the effectiveness of our proposed motion planning and contact force distribution methods.

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Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

Sihite,

Slezak,

Mandralis

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG)

Cited by 4 publications

References 18 publications

Design of a Quadruped Robot with Morphological Adaptation through Reconfigurable Sprawling Structure and Method

Design of a Quadruped Robot with Morphological Adaptation through Reconfigurable Sprawling Structure and Method

Motion planning and contact force distribution for heavy‐duty hexapod robots walking on unknown rugged terrains

Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

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