Finite state automaton based control system for walking machines

Hussain, Razeen; Zielińska, Teresa; Hexel, René

doi:10.1177/1729881419853182

Cited by 9 publications

(10 citation statements)

References 37 publications

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“…In addition to the identification of the likelihoods of gait phases and the desired ground contact sequences, the total period of one gait cycle is necessary for generating an input of cyclic basis functions, i.e., the index on the scaled gait cycle domain. Figure 13a shows the total period of one gait cycle calculated as in Equation (18). Notice that T cycle (v) was reduced as the gait speed increased, which implies that the cyclic locomotive motions occur more frequently at high speeds.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…(a) From walk to trot Figures [16][17][18] show the generated joint-angle trajectories in transitions gait phases. It should be noted that the transition of the gait phases (i.e., the changes of the joint-angle amplitudes and intervals) took place smoothly in the generated joint-angle trajectories.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Liu et al applied the FSM for the separation of the swing phase and the stance phase [ 17 ]. Hussain et al elaborated and tested the functional structure of a control system using the logic-labeled FSM [ 18 ], and Ding et al generated the trotting, bounding, and aperiodic motions by event-based FSM that was extended from time-based FSM through the contact detection algorithm [ 19 ].…”

Section: Introductionmentioning

confidence: 99%

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Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Choi

2021

Sensors

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Quadruped robots are receiving great attention as a new means of transportation for various purposes, such as military, welfare, and rehabilitation systems. The use of four legs enables a robustly stable gait; compared to the humanoid robots, the quadruped robots are particularly advantageous in improving the locomotion speed, the maximum payload, and the robustness toward disturbances. However, the more demanding conditions robots are exposed to, the more challenging the trajectory generation of robotic legs becomes. Although various trajectory generation methods (e.x., central pattern generator, finite states machine) have been developed for this purpose, these methods have limited degrees of freedom with respect to the gait transition. The conventional methods do not consider the transition of the gait phase (i.e., walk, amble, trot, canter, and gallop) or use a pre-determined fixed gait phase. Additionally, some research teams have developed locomotion algorithms that take into account the transition of the gait phase. Still, the transition of the gait phase is limited (mostly from walking to trot), and the transition according to gait speed is not considered. In this paper, a multi-phase joint-angle trajectory generation algorithm is proposed for the quadruped robot. The joint-angles of an animal are expressed as a cyclic basis function, and an input to the basis function is manipulated to realize the joint-angle trajectories in multiple gait phases as desired. To control the desired input of a cyclic basis function, a synchronization function is formulated, by which the motions of legs are designed to have proper ground contact sequences with each other. In the gait of animals, each gait phase is optimal for a certain speed, and thus transition of the gait phases is necessary for effective increase or decrease in the locomotion speed. The classification of the gait phases, however, is discrete, and thus the resultant joint-angle trajectories may be discontinuous due to the transition. For the smooth and continuous transition of gait phases, fuzzy logic is utilized in the proposed algorithm. The proposed methods are verified by simulation studies.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Choi

2021

Sensors

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“…The security of data and information transmission plays a crucial role in robotic control systems [29]. Complex robotic systems undergo attacks with the aim of [30]: (a) Damaging data and information, (b) violating access rights and system integrity, (c) damaging the logic of their operation.…”

Section: State Of the Artmentioning

confidence: 99%

Cybersecurity of Robotic Systems: Leading Challenges and Robotic System Design Methodology

Dutta

Zielińska

2021

Electronics

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Recent years have seen a rapid development of the Internet of Things (IoT) and the growth of autonomous robotic applications which are using network communications. Accordingly, an increasing advancement of intelligent devices with wireless sensors (that means autonomous robotic platforms) operating in challenging environments makes robots a tangible reality in the near future. Unfortunately, as a result of technical development, security problems emerge, especially when considering human–robot collaboration. Two abnormalities often compromise the basic security of collaborative robotic fleets: (a) Information faults and (b) system failures. This paper attempts to describe the methodology of a control framework design for secure robotic systems aided by the Internet of Things. The suggested concept represents a control system structure using blocks as the components. The structure is designed for the robots expected to interact with humans safely and act connected by communication channels. The properties of the components and relations between them are briefly described. The novelty of the proposed concept concerns the security mechanisms. The paper also categorizes two different modes of network attacks summarizing their causal effects on the human–robot collaboration systems. The issue of standardization is also raised. In particular, the works of the National Institute of Standards and Technology (NIST) and European Parliament (EP) on the security templates for communication channels are commented.

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“…For example, if there is a "start" trigger in S1, the robot state will shift from S1 to S2 and S3. Those shifting processes are called transition [25], [26].…”

Section: Algorithmsmentioning

confidence: 99%

A Simulation-Based Study of Maze-Solving-Robot Navigation for Educational Purposes

Fahmi

Suroso

2021

Journal of Robotics and Control

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The point of education in the early stage of studying robotics is understanding its basic principles joyfully. Therefore, this paper creates a simulation program of indoor navigations using an open-source code in Python to make navigation and control algorithms easier and more attractive to understand and develop. We propose the maze-solving-robot simulation as a teaching medium in class to help students imagine and connect the robot theory to its actual movement. The simulation code is built for free to learn, improve, and extend in robotics courses or assignments. A maze-solving robot study case is then done as an example of implementing navigation algorithms. Five algorithms are compared, such as Random Mouse, Wall Follower, Pledge, Tremaux, and Dead-End Filling. Each algorithm is simulated a hundred times in every type of the proposed mazes, namely mazes with dead ends, loops only, and both dead ends and loops. The observed indicators of the algorithms are the success rate of the robots reaching the finish lines and the number of steps taken. The simulation results show that each algorithm has different characteristics that should be considered before being chosen. The recommendation of when-to-use the algorithms is discussed in this paper as an example of the output simulation analysis for studying robotics.

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Finite state automaton based control system for walking machines

Cited by 9 publications

References 37 publications

Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Multi-Phase Joint-Angle Trajectory Generation Inspired by Dog Motion for Control of Quadruped Robot

Cybersecurity of Robotic Systems: Leading Challenges and Robotic System Design Methodology

A Simulation-Based Study of Maze-Solving-Robot Navigation for Educational Purposes

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