Human-tracking strategies for a six-legged rescue robot based on distance and view

Pan, Yang; Gao, Feng; Qi, Chenkun; Chai, Xun

doi:10.3901/cjme.2015.1212.146

Cited by 18 publications

(7 citation statements)

References 16 publications

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“…Two rotational DoF about the hip and one translational DoF along the leg appear to be low level of anisotropy in horizontal directions. This type of leg fits omnidirectional experimental platforms or highly stable manipulator robots, e.g., RAIBERT Hopper [17,27] and PPHex [14].…”

Section: Analyses Of the Leg Mobilitymentioning

confidence: 99%

“…Walking robots become the hot spots recently at the leading edge of robot research. Various robot prototypes were tested with specific tasks, including BigDog [1,2], FROG-I [3,4], B-elepht [5,6], Hector [7], Crabster [8][9][10][11], PPHex [12][13][14] and many other biomechanics [15,16]. Legs are the key parts of the walking robot structure.…”

Section: Introductionmentioning

confidence: 99%

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Type Synthesis of Walking Robot Legs

Gao

2018

Chin. J. Mech. Eng.

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Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function (GF) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of design. Number synthesis problem is decomposed into two stages, actuation and constraint synthesis by name, corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Section: Analyses Of the Leg Mobilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Type Synthesis of Walking Robot Legs

Gao

2018

Chin. J. Mech. Eng.

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“…According to the different movement forms, rescue robots can be divided into four categories: tracked rescue robot [5][6][7][8], wheeled rescue robot [9], multilegged rescue robot [10,11], and snake-like rescue robot [12,13]. However, the movement environment and function of the above four kinds of robots have some limitations.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Meng

Xue

et al. 2017

Mathematical Problems in Engineering

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A wheel-legged rescue robot design with strong environmental adaptability is proposed. The design presented is aimed at helping rescue workers complete their missions, such as environmental and personnel search, quickly and accurately. So it has broad application prospects. In order to achieve the advantages of simple structure, easy control, small occupation space, and wide motion range, a wheel-legged rescue robot is designed in this paper, and the robot can realize three kinds of motion states, which include wheel state, rotation center lifting process, and leg state. Then the motion states are analyzed in detail, which provides a reference for motion control. Considering the wheel state and leg state share the same structure to contact with the ground, the effect of the stiffness of wheel-legged structure to the motion performance is analyzed. Then the experiment is carried out to prove the feasibility of the structure design. This study offers a design and quantitative analysis for wheel-legged rescue robot. Furthermore, a basis for future control research and engineering applications is established.

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“…The work expands the result presented in [31], where only favorable leg link proportions from the point of view of the energy consumption were analyzed for straight line walking over a horizontal surface with the leg-end forces obtained using simplified method neglecting the motion dynamics. As the majority of researchers do, when developing the machines for real missions, we focus on hexapods, because their postural stability is less sensitive to the environmental conditions than that of quadrupeds [2,7,13,16,18,20]. Moreover, they can walk using many types of statically stable gaits.…”

Section: Introductionmentioning

confidence: 99%

Minimizing Energy Cost in Multi-Legged Walking Machines

Zielińska

2016

J Intell Robot Syst

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Due to their ability to avoid obstacles and to move over difficult terrain, moreover having the ability to adjust their posture, walking machines for many years have been considered as very promising devices for inspection, exploration and surveyance tasks, however still they have not been widely applied. One of the main limitations is the power supply. Six legged walking machines are robust from the point of view of their walking stability in difficult terrain, but their actuators (18 if each leg has active 3 DOF's) adds to their weight what increases the energy consumption. The higher energy consumption requires more efficient batteries, but usually those are heavier, what again increases the energy demand. Therefore at the design stage a detailed analysis is required of how to decrease the energy consumption. This paper studies energy consumption considering the tripod gait of hexapods. The method used for energy evaluation is presented and the results are discussed. The discussion of energy saving both for the leg transfer phase and during the support phase, which is the most demanding phase, is presented. The energy consumption is expressed in the normalized form, depending on the normalized leg proportions, body height and step length. The straight line forward/backward and side walking are analyzed. The aim of the studies is to provide to the designers the information about favorable leg proportions taking into account the reduction of required energy and to provide the information which leg posture should be selected.

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Human-tracking strategies for a six-legged rescue robot based on distance and view

Cited by 18 publications

References 16 publications

Type Synthesis of Walking Robot Legs

Type Synthesis of Walking Robot Legs

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Minimizing Energy Cost in Multi-Legged Walking Machines

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