Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification

Abstract

[abstFig src='/00280006/03.jpg' width='300' text='Robotic foot adaptable to rough terrain' ] Practical ambulation must be realized by walking robots to enable social and industrial support by walking robots in human living environments. A four-legged robot that walks through rough terrain effectively does not erase the fact that most legged robots – particularly biped robots – have difficulty negotiating rough terrain. We focus below on a foot structure and landing control for enabling any type of legged robot to walk through rough terrain. When a walking robot lands on the ground, it is difficult to detect the detailed geometry and dynamic properties of the ground surface. The new foot structure we propose adapts to ground surfaces that have different geometries and hardness. The foot has four-part flat soles. The landing controller we apply to a robot with our proposed foot structure increases the stability of contact with the ground. We verify the effectiveness of our proposed foot structure in experiments.

Joint control of a robotic arm using particle swarm optimization based H2/H∞ robust control on arduino

“…Even for the low-cost robotic arm, guaranty of robust stability and robust performance is a must. H∞ under bound uncertainty is a controller that guarantee robust stability [11][12][13][14]. H∞ controller works as an optimal controller that does not provide the best performance of the system but provides the optimal performance in the range of uncertainties [15].…”

Push recovery control of quadruped robot using particle swarm optimization based structure specified mixed sensitivity H2/H∞ control

“…Zhang et al (2007) tried to control quadruped robot’s stability by adjusting touch-down angle of the robot leg based on the trunk pitch angle. Mamiya et al (2016) modified the quadruped robot’s foot structure to achieve stable walking on rough terrain. StarlETH (Gehring et al , 2013) developed a trotting controller that was robust for pushing force by improving the virtual forces method and determined step position using the inverted pendulum model.…”

“…H ∞ is a controller that guarantees robust stability under bound uncertainty (Aoi, 2014; Fukuoka et al , 2010; Zhang et al , 2007; Mamiya et al , 2016). However, robust stability obtained from H ∞ alone is not sufficient to achieve robust performance.…”