Lauron V: Optimized Leg Configuration for the Design of a Bio-Inspired Walking Robot

Roennau, Arne; Heppner, G.; Pfotzer, L.; Dillmann, Rüdiger

doi:10.1142/9789814525534_0071

Cited by 19 publications

(12 citation statements)

References 11 publications

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“…Some early design solutions have been for example, OSU Hexapod [17], Odex I [18], Aquarobot [19], ASV [20], Ambler [21]. Remarkable hexapod robots in recent design solutions have included Hamlet [22], Rhex [23], Athlete [24], and Lauron [25].…”

Section: The Attached Problemmentioning

confidence: 99%

“…Accordingly, one can define the hip coordinates as x h = a x t 3 + b x t 2 + c x t + d x y h = a y t 4 + b y t 3 + c y t 2 + d y t + e y (25) In Equation (25), one can set the initial and final conditions as…”

Section: Leg Path Planningmentioning

confidence: 99%

“…Reasonable value of h 0 for the Cassino Hexapod ranges from 2 to 6 cm. During the single support, one assigns the trajectory expressed in Equation (25), by assigning the parameter t. …”

Section: Leg Path Planningmentioning

confidence: 99%

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Design of a Novel Leg-Wheel Hexapod Walking Robot

Tedeschi

Carbone

2017

Robotics

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Hexapod walking robots have been widely addressed in the literature with a very large number of design and engineering solutions. However, specific design approaches and solutions are needed to cope with specific novel applications. This paper aims to address the design of a hexapod walking robot having exploration, architectonic survey, and maintenance of cultural heritage goods as its main application tasks. This specific case of study is addressed by carrying out a detailed design, which led to the construction of a novel hexapod walking robot, named Cassino Hexapod III. The proposed robot is composed of hybrid legs of a modular anthropomorphic architecture with omni-wheels as feet at its extremity. The proposed design and engineering solutions can overcome the limits of other existing prototypes and to fulfil the specific application requirements and constraints with a cost-effective and user-friendly solution. The proposed novel solutions have also originated an Italian patent No. 102014902238772.

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Section: The Attached Problemmentioning

confidence: 99%

Section: Leg Path Planningmentioning

confidence: 99%

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Design of a Novel Leg-Wheel Hexapod Walking Robot

Tedeschi

Carbone

2017

Robotics

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“…Lauron V hexapod robot was the result of about ten years of progressive improvement on the previous configurations. LAURON hexapod was biologically-inspired by the stick insect [48]. The control architecture was based on neural networks and it allows the robot to climb stairs and ditches.…”

Section: State Of Art Overviewmentioning

confidence: 99%

Hexapod Walking Robot Locomotion

Tedeschi

Carbone

2015

Motion and Operation Planning of Robotic Systems

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Path planning, gait planning and trajectory planning are assuming an increasing significance for Hexapod Walking robots and more generally, in legged robotics. Indeed, the trend for walking robots is to improve the speed, the stability, the navigation autonomy and the energy efficiency. In this Chapter it will be addressed the problem of Hexapod Walking Robots (HWR) locomotion. An overview of the State of the Art is carried out with references to the numerous contributions to this field. It will be provided a background on the topics of path planning, gait and trajectory planning for HWR locomotion. Special attention will be given to the hexapod gaits, starting from their classification together with a detailed description of most common ones. A case of study is described as referring to previous experiences at LARM in Cassino. Examples of a path planning, gait and trajectory planning are provided through kinematic and dynamic features of Cassino Hexapod leg operation.

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“…The StarlETH (Hutter et al, 2012), LittleDog (Shkolnik et al, 2010), XDOg (Xie et al, 2014), MIT Cheetah (Seok et al, 2013), IIT HyQ (Semini et al, 2011) and Cheetah-cub (Spröwitz et al, 2013) are other examples of quadrupeds motivated by the mammalian morphology. Alternative design of the robot legs is inspired by the leg structure of insects and arachnids such as spider (Ho et al, 2007;Gasparetto et al, 2008), examples of which can be found in the design of TITAN quadruped (Kato and Hirose, 2001), LAVA (Zielinska and Heng, 2003), LAURON V (Roennau et al, 2013), PUT Hexapod Robots (Belter et al, 2015), MRWALLSPECT-III (Kang et al, 2003), and MiniQuad I (Chen et al, 2008).…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg

Kashiri

Ajoudani

Caldwell

et al. 2016

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics

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As a major inspiration of biologically inspired systems, multi-legged robots have been developed due to their superior stability feature resulting from their large support polygon. The leg design of a majority of such robots is motivated by the skeleton of vertebrates such as dogs, or that of invertebrates such as spiders. Despite a wide variety of multi-pedal robots on the basis of the two aforesaid leg designs, a thorough comparison of the two underlying design principles remains to be done. This work addresses this problem and presents a comparative study for the two mammal-like and spider-like designs by looking at the joint torque profile, the responsive motion of the legs, and the thrust force applied by the robot. To this end, a set of performance indexes are defined based on the gravity compensation torque, the dynamic manipulability polytope and the force polytope, and evaluated in various leg configurations of the two designs.

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Lauron V: Optimized Leg Configuration for the Design of a Bio-Inspired Walking Robot

Cited by 19 publications

References 11 publications

Design of a Novel Leg-Wheel Hexapod Walking Robot

Design of a Novel Leg-Wheel Hexapod Walking Robot

Hexapod Walking Robot Locomotion

Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg

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