Estimation of optimal feet forces and joint torques for on-line control of six-legged robot

Roy, Shibendu Shekhar; Singh, Ajay Kumar; Pratihar, Dilip Kumar

doi:10.1016/j.rcim.2011.03.002

Cited by 36 publications

(17 citation statements)

References 20 publications

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“…However, in order to have a better understanding of its walking, dynamics and other important issues, such as dynamic stability, energy efficiency and its on-line control; kinematics and dynamic models based on a realistic walking robot are necessary to develop. In this connection, the authors' previous studies [14][15][16] are also worth mentioning.…”

mentioning

confidence: 90%

Soft computing-based approaches to predict energy consumption and stability margin of six-legged robots moving on gradient terrains

Roy

Pratihar

2011

Appl Intell

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Soft computing-based approaches have been developed to predict specific energy consumption and stability margin of a six-legged robot ascending and descending some gradient terrains. Three different neuro-fuzzy and one neural network-based approaches have been developed. The performances of these approaches are compared among themselves, through computer simulations. Genetic algorithm-tuned multiple adaptive neuro-fuzzy inference system is found to perform better than other three approaches for predicting both the outputs. This could be due to a more exhaustive search carried out by the genetic algorithm in comparison with back-propagation algorithm and the use of two separate adaptive neuro-fuzzy inference systems for two different outputs. A designer may use the developed soft computing-based approaches in order to predict specific energy consumption and stability margin of the robot for a set of input parameters, beforehand.

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confidence: 90%

Soft computing-based approaches to predict energy consumption and stability margin of six-legged robots moving on gradient terrains

Roy

Pratihar

2011

Appl Intell

Self Cite

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“…The homogeneous transformation matrix describing the relative translation and rotation between the i th and (i-1) th coordinate system is represented in (1) [11].…”

Section: Ni Smart Control System and Automation System Formentioning

confidence: 99%

“…In 2011, Roy, Singh, and Pratihar [11] evaluated the optimal feet forces and joint torques in the real-time system for controlling of six-legged robot. Their research is focused on obtaining an optimum point in the distributions of feet forces and values of joint torques of a six-legged robot on-line.…”

Section: Introductionmentioning

confidence: 99%

Adaptive intelligent spider robot

Teymourzadeh

Mahal

Shen

et al. 2013

2013 IEEE Conference on Systems, Process &Amp; Control (ICSPC)

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This paper present the development of an adaptive intelligent spider robot. With the incorporation of sensors, the four-legged spider robot is able to monitor the environment wirelessly. A new auto-station adaptation National Instrument (NI) controller in application for intelligent robot is proposed. The research work will solve the weak adaptive ability of conventional existing robot. The proposed project proposes a self-adaptive smart spider robot that functions without human interfacing. The proposed design utilizes the control scheme with National Instruments (NI) LabVIEW to produce a smart portable system. Furthermore, the adaptive intelligent spider robot easily adapts to new situations when facing obstacles. The design is carried out using feed-back loop schematic LabVIEW interfacing with the smart controller and incorporation of GH-311 Ultrasonic Sensor to detect any obstacle in front of the robot, GH-312 Smoke Sensor which use to detect smoke in the particular area and LM35 Temperature sensor to get temperature for the surround. The proposed module was designed and implemented using movable wireless Router Module TP Link TL-MR3420 Router transceiver for device communication. The robot was tested and analyzed showing the system efficiency of above 95%, which is competent in robotic applications [1-4].

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“…Roy et al applied homogeneous transformation method to implement position-orientation adjustment for a hexapod robot assuming forward motion at a constant velocity, in a straight path, on a flat surface with alternating tripod gait (Roy et al 2011;Roy and Pratihar 2013). But joint angles may have no or many solutions using the homogeneous transformation method as the position-orientation adjustment algorithm.…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure

Chen

Jin

Chen

2016

Iran. J. Sci. Technol. Trans. Mech. Eng.

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Multi-legged robot often needs to change its body position and orientation in order to walk over different terrain. A useful position-orientation adjustment algorithm is needed to meet the goal. This paper focuses on position-orientation adjustment algorithm of a sixlegged robot which is used to calculate the joint angles when the foothold positions, the center of six-legged robot body and the six-legged robot's orientation are given. Sixlegged robot can move to target position and orientation according to joint angles got by the position-orientation adjustment algorithm. A new approach based on geometry structure is proposed to solve inverse kinematics of the six-legged robot. Furthermore, the inverse kinematics method is used in the position-orientation adjustment algorithm. In addition, a linear tracking simulation is conducted by MATLAB and ADAMS to evaluate the performance of the position-orientation adjustment algorithm, and experiments are done on the six-legged robot to demonstrate the validity of the position-orientation adjustment algorithm.

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Estimation of optimal feet forces and joint torques for on-line control of six-legged robot

Cited by 36 publications

References 20 publications

Soft computing-based approaches to predict energy consumption and stability margin of six-legged robots moving on gradient terrains

Soft computing-based approaches to predict energy consumption and stability margin of six-legged robots moving on gradient terrains

Adaptive intelligent spider robot

Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure

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