Leg kinematic analysis and prototype experiments of walking-operating multifunctional hexapod robot

Pan, Yang; Gao, Feng

doi:10.1177/0954406213516087

Cited by 28 publications

(7 citation statements)

References 21 publications

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“…6), respectively. To scale the function of terrain adaptability to a larger extent, experience of existing landers and walking robot of our laboratory 47,48 is used. For this purpose, spherical passive joints of three DOF are used.…”

Section: Structure Design For the Leg Of The Mobile Landermentioning

confidence: 99%

“…The aim of this paper is to investigate the type synthesis of a legged mobile lander combining the capabilities of the lander and the rover inspired by the configurations of existing landers, 2−11 the prior experience from the walking robot at our laboratory, 48,49 and the concepts of the passive limb and a singular property. The paper is detailed in six sections.…”

Section: Introductionmentioning

confidence: 99%

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Type synthesis of legged mobile landers with one passive limb using the singularity property

Lin¹,

Guo²,

Chen³

et al. 2018

Robotica

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SUMMARYDuring extraterrestrial planetary exploration programs, autonomous robots are deployed using a separate immovable lander and a rover. This mode has some limitations. In this paper, a concept of a novel legged robot with one passive limb and singularity property is introduced that has inbuilt features of a lander and a rover. Currently, studies have focused primarily on a performance analysis of the lander without a walking function. However, a systematic type synthesis of the legged mobile lander has not been studied. In this study, a new approach to the type synthesis used for the robot is proposed based on the Lie group theory. The overall concept and design procedures are proposed and described. The motion requirements of the robot and its legs, which are corresponding to the multi-function, are extracted and described. The layouts of the subgroups or submanifolds of the limbs are determined. The structures of the passive and actuated limbs are synthesized. Numerous structures of the legs with a passive limb are produced and listed corresponding to the desired displacement manifolds. Numerous novel structures of legs for the legged mobile lander are presented and listed. Then, four qualitative criteria or indexes are introduced. Based on the proposed criteria, a leg's configuration is selected as the best. A typical structure of the legged mobile lander is obtained by assembling the structures of the proposed legs. Finally, the typical robot is used as an example to verify the capabilities of the novel robot using a software simulation (ADAMS).

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Section: Structure Design For the Leg Of The Mobile Landermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Type synthesis of legged mobile landers with one passive limb using the singularity property

Lin¹,

Guo²,

Chen³

et al. 2018

Robotica

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show abstract

“…The legged robot is called “Octopus” [ 30 , 31 ], which has a hexagonal body with six identical legs arranged in a diagonally symmetrical way around its body as shown in Figure 1 . The robot is a six DOFS moving platform that integrates walking and manipulating.…”

Section: System Descriptionmentioning

confidence: 99%

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot

Chai

Gao

Pan

et al. 2015

Sensors

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Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving the immediate environment, building the terrain map and planning the locomotion automatically. It is now well established that current identification methods have non-negligible limitations such as a difficult feature matching, the requirement of external tools and the intervention of multiple people. In this paper, we propose a novel methodology to identify the geometric parameters of 3D vision systems mounted on robots without involving other people or additional equipment. In particular, our method focuses on legged robots which have complex body structures and excellent locomotion ability compared to their wheeled/tracked counterparts. The parameters can be identified only by moving robots on a relatively flat ground. Concretely, an estimation approach is provided to calculate the ground plane. In addition, the relationship between the robot and the ground is modeled. The parameters are obtained by formulating the identification problem as an optimization problem. The methodology is integrated on a legged robot called “Octopus”, which can traverse through rough terrains with high stability after obtaining the identification parameters of its mounted vision system using the proposed method. Diverse experiments in different environments demonstrate our novel method is accurate and robust.

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“…Second, with more legs, hexapod robots can provide more load capacity. Over the past decade, the hexapod robots are extensively studied in several aspects, including robot design, [1][2][3][4] locomotion control, 5,6 and path planning. [7][8][9] However, most current hexapod robots still rely on traditional static gaits; thus, their speed is quite unsatisfactory for disaster rescuing.…”

Section: Introductionmentioning

confidence: 99%

Towards dynamic alternating tripod trotting of a pony-sized hexapod robot for disaster rescuing based on multi-modal impedance control

Sun¹,

Gao²,

Chen³

2018

Robotica

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SUMMARYHexapod robots are well suited for disaster rescuing tasks due to their stability and load capability. However, most current hexapod robots still rely on static gaits that largely limit their locomotion speed. This paper introduces a hierarchical control strategy to realize a dynamic alternating tripod trotting gait for a hexapod robot based on multi-modal impedance control. At the low level, a position-based impedance controller is developed to realize an adjustable compliant behavior for each leg. At the high level, a new gait controller is developed to generate a stable alternating tripod trotting gait, in which a gait state machine, a leg compliance modulation strategy, and a close-looped body attitude stabilizer are imposed. As a result, the alternating tripod trotting of the hexapod robot can be synchronized as the running of a bipedal robot with stable body attitude. Moreover, this control strategy was verified by experiments on a newly designed pony-sized disaster rescuing robot, HexbotIV, which successfully achieved a dynamic trotting gait with ability to resist the disturbances of mildly uneven terrains. Our control strategy as well as the experimental study can be a valuable reference for other hexapod robots and thus paves a way to the practical deployment of disaster rescuing robots.

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Leg kinematic analysis and prototype experiments of walking-operating multifunctional hexapod robot

Cited by 28 publications

References 21 publications

Type synthesis of legged mobile landers with one passive limb using the singularity property

Type synthesis of legged mobile landers with one passive limb using the singularity property

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot

Towards dynamic alternating tripod trotting of a pony-sized hexapod robot for disaster rescuing based on multi-modal impedance control

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