Kinematics Modeling of Multi-legged Robots walking on Rough Terrain

Abstract

The paper develops a systematic method for kinematics modeling of multi-legged robots for walking on rough terrain. An extended D-H table is proposed for characterizing the robot joints and linkages parameters. The equations of motions are set up using this table for different frames starting from the robot reference frame, going through individual legs and finally reaching feet-terrain contact frames. The composite equation of motion is formed from those of individual legs. The formulation allows determining actuations to various joints for achieving a desired robot motion, while optimizing a performance index such as a stability measure. For illustration, the method is applied to SILO4, an articulated quadruped.S −

Center of Gravity Based, Switching and Partial Modeled Gait Planning

“…The section from the link 1 to the center of gravity (CG) is named as the right leg (RL), while that from link 12 to CG is named as the left leg (LL). The hip of the right leg consists of link 5 , joint 4 and joint 5 , while the knee of right leg consists of joint 3 and ankle of right leg consists of link 2 , joint 1 and joint 2 . The LL parameters are similar to RL parameters.…”

“…After defining structure, kinematic model was derived. Denavit-Hartenberg convention used for kinematic model [4]. From the homogenous transformation matrices found by Denavit-Hartenberg convention inverse kinematics found by Jacobian method [5].…”

Kinematic Analysis of a Legged Walking Robot Based on Four-bar Linkage and Jansen Mechanism

“…불규칙한 지반 (irregular ground) 위에서 척추동물들은 선천적으로 타고 난 환경 적응 능력으로 민첩하게 움직일 수 있으므로 빠른 속도를 가지며, 운동 중 각각의 다리가 최소 시간에 선택된 최적의 점에 착지하므로 우수한 에너지 효율을 나타낸다 [5]. 지금까지 육지에서 걷는 다관절 형태의 로봇(multi-legged robots) 다리에 대하여 많은 연구가 있어 왔다 [6][7][8][9][10] 제안한 다관절 보행 로봇인 게 로봇의 다리 구조는 얀센 메커니즘(Jansen mechanism)과 4절 링크 이론(four-bar linkage mechanism)을 배경으로 한다 [14]. …”

Energy-efficient inverse dynamic model of a Hexapod robot

“…The studies show that the dynamics of the legged robots is similar to that of a three degree of freedom spatial manipulator with the foot as the end effector [1]. Further, the approach to study of single leg dynamics was either by using classical Newton-Euler or Lagrange-Euler and the study of kinematics corresponded to the use of Denavit-Hartenberg parameter set or screw theory mostly [2][3][4][5]. Also, the models neglected the coupling effects and non-linearity in the dynamics of the swing legs on the support legs and the trunk body.…”