Foot trajectory for a quadruped walking machine

Sakakibara, Yoshihiro; Kan, Kazutoshi; Hosoda, Yuji; Hattori, Makoto; Fujie, Masakatsu G.

doi:10.1109/iros.1990.262407

Cited by 45 publications

(26 citation statements)

References 4 publications

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“…In the first section, the jumping forms of several typical legged robots [16,25,28,34] were described in detail. Normally, the more jumping force a robot has, the more difficult it is to control its jumping movement.…”

Section: Discussionmentioning

confidence: 99%

“…Fumitaka et al [26] have designed a quadruped robot, which can jump even in rugged external environments and can achieve the task of crossing obstacles. Some scholars [27][28][29] have proposed a rigid mode of imitating the motion principle of the cricket by studying the robot's ability to jump and kick; the robot can adjust its own dynamic balance while it is jumping. Thus, compared with the single robot, the multi-legged robot has better overall stability.…”

Section: Introductionmentioning

confidence: 99%

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Omnidirectional Jump of a Legged Robot Based on the Behavior Mechanism of a Jumping Spider

et al. 2018

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To find a common approach for the development of an efficient system that is able to achieve an omnidirectional jump, a jumping kinematic of a legged robot is proposed based on the behavior mechanism of a jumping spider. To satisfy the diversity of motion forms in robot jumping, a kind of 4 degrees of freedom (4DoFs) mechanical leg is designed. Taking the change of joint angle as inspiration by observing the behavior of the jumping spider during the acceleration phase, a redundant constraint to solve the kinematic is obtained. A series of experiments on three types of jumping-vertical jumping, sideways jumping and forward jumping-is carried out, while the initial attitude and path planning of the robot is studied. The proposed jumping kinematic is verified on the legged robot experimental platform, and the added redundant constraint could be verified as being reasonable. The results indicate that the jumping robot could maintain stability and complete the planned task of jumping, and the proposed spider-inspired jumping strategy could easily achieve an omnidirectional jump, thus enabling the robot to avoid obstacles.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Omnidirectional Jump of a Legged Robot Based on the Behavior Mechanism of a Jumping Spider

et al. 2018

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“…In order to minimize the impact forces between ground and the landing foot, the foot trajectory should meet the demand that velocity becomes to zero at the moment of touchdown, lift-off and maximum foot height. The composite cycloid foot trajectory meets the demand well [13]. But it has a serious defect that is the obvious relative slippage occurred between feet and floor at landing moment.…”

Section: Foot Trajectory Planningmentioning

confidence: 99%

Design for Several Hydraulic Parameters of a Quadruped Robot

Rong¹,

Li²,

Jian³

et al. 2014

Appl. Math. Inf. Sci.

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Abstract:For a quadruped robot with 12 active joints driven by linear hydraulic actuators, some important parameters, such as the oil flow of the hydraulic system and the needed maximum output force of each actuator, are hard to calculate precisely with kinematics and dynamics equations. The oil flow is mainly determined by the walking speed of the quadruped robot, but also influenced by the stride frequency, gait type and the foot trajectory. This paper planned the foot trajectory with cubic polynomial firstly. Then selected optimal stride frequency referred to that of four-legged mammals and stride length according to the required walking speed of the quadruped robot. Furthermore, displacement curves and velocity curves with respect to time for all linear hydraulic actuators can be obtained easily with inverse kinematics equations in MATLAB. The needed maximum output force of each actuator can be obtained from dynamic simulation with MSC.ADAMS. Then the effective area of the hydraulic actuator can be calculated according to the output force of actuator and oil pressure of the hydraulic system. Lastly, the oil flow can be calculated precisely by summing all the products of the velocity and the effective area of each actuator.

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“…Similarly, the target trajectory of a toe in the swing phase (from B to A) is defined as a composite cycloid (equation (4)) for decreasing the impact force against the ground [16]. The target trajectory of joint angle corresponding to the toe swing position is solved with the same equation (3).…”

Section: A Target Trajectorymentioning

confidence: 99%

Construction of Central Pattern Generator for Quadruped Locomotion Control

Feng

Wang

2008

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Central pattern generators (CPGs) inspired from neural system of animal are widely used for the control of locomotion in robots. Such systems present special characteristics like limit cycle behavior, synchronization, entrainment and to be modulated by external signals. However, one drawback of this kind of CPG is that most of the time these CPGs have to be tailored made for a specific application, and there are very few methodologies to modulate the shape of the rhythmic signals, in particular for online trajectory generation.In this paper, we illustrate a method for generating the rhythmic movement patterns with nonlinear dynamical systems. Using the phase angle of a canonical oscillator with limit cycle properties, we drive a perturbed dynamical system by means of embedding arbitrary smooth target signal, however, without losing the stability properties of the canonical system. The shape of target signal can be adjusted on line by internal parameters. The new kind of CPG is constructed by the coupling of oscillators with locked phase difference and synchronization. The outputs of perturbed dynamical system are used to control the walking of a quadruped robot with 12-DOF. The result of experiment shows the new kind of CPG is suitable for the control of multi-joint robot.

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Foot trajectory for a quadruped walking machine

Cited by 45 publications

References 4 publications

Omnidirectional Jump of a Legged Robot Based on the Behavior Mechanism of a Jumping Spider

Omnidirectional Jump of a Legged Robot Based on the Behavior Mechanism of a Jumping Spider

Design for Several Hydraulic Parameters of a Quadruped Robot

Construction of Central Pattern Generator for Quadruped Locomotion Control

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