Locomotion Control for a Land-Air Hexapod Robot

Sun, Yinshuai; Jing, Zhongliang; Dong, Peng; Chen, Wujun; Huang, Jianzhe

doi:10.1109/icarm52023.2021.9536074

Cited by 4 publications

(2 citation statements)

References 17 publications

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“…In these approaches, closed mathematical models (geometric and/or kinematic) are used to compute, in advance and for each limb, a sequential set of joint configurations that, when performed, will propel the robot body forward during the support phase, while during the swing phase, the limb tip describes a given parametric trajectory to the next support point, using most commonly sine, Bezier, and triangular trajectories [6,[14][15][16][17]. During locomotion, these trajectories are repeated in a logical sequence; in some cases, the trajectory during the swing phase can be adapted to increase or decrease the horizontal travel distance and/or clearance of the gait (see Figure 1b).…”

Section: Precomputed Approachesmentioning

confidence: 99%

Kinematic Tripod (K3P): A New Kinematic Algorithm for Gait Pattern Generation

Soto-Guerrero,

Ramírez-Torres,

Rodriguez-Tello

2024

Applied Sciences

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Insects are good examples of ground locomotion because they can adapt their gait pattern to propel them in any direction, over uneven terrain, in a stable manner. Nevertheless, replicating such locomotion skills to a legged robot is not a straightforward task. Different approaches have been proposed to synthesize the gait patterns for these robots; each approach exhibits different restrictions, advantages, and priorities. For the purpose of this document, we have classified gait pattern generators for multi-legged robots into three categories: precomputed, heuristic, and bio-inspired approaches. Precomputed approaches rely on a set of precalculated motion patterns obtained from geometric and/or kinematic models that are performed repeatedly whenever necessary and that cannot be modified on-the-fly to adapt to the terrain changes. On the other hand, heuristic and bio-inspired approaches offer on-line adaptability, but parameter-tuning and heading control can be difficult. In this document, we present the K3P algorithm, a real-time kinematic gait pattern generator conceived to command a legged robot. In contrast to other approaches, K3P enables the robot to adapt its gait to follow an arbitrary trajectory, at an arbitrary speed, over uneven terrain. No precomputed motions for the legs are required; instead, K3P modifies the motion of all mechanical joints to propel the body of the robot in the desired direction, maintaining a tripod stability at all times. In this paper, all the specific details of the aforementioned algorithm are presented, as well as different simulation results that validate its characteristics.

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Section: Precomputed Approachesmentioning

confidence: 99%

Kinematic Tripod (K3P): A New Kinematic Algorithm for Gait Pattern Generation

Soto-Guerrero,

Ramírez-Torres,

Rodriguez-Tello

2024

Applied Sciences

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“…A leg-type amphibious robot was presented in [5], which can move on the ground with its legs, and generates traction by spraying water on the water surface. More interesting robots can be found in [6][7][8]. The micro aerial vehicles (MAVs) equipped with optical flow sensors can realize obstacle avoidance, measurement distance, and velocity estimation.…”

Section: Introductionmentioning

confidence: 99%

Water Surface Flight Control of a Cross Domain Robot Based on an Adaptive and Robust Sliding Mode Barrier Control Algorithm

et al. 2022

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When a cross-domain robot (CDR) flies on the water surface, the large pitch angle and roll angle may lead to water flooding into the robot cabin or even overturning. In addition, the CDR is influenced by some uncertain parameters and external disturbances, such as the water resistance and current. To constrain the robot attitude angle and improve the robustness of the controller, a non-singular terminal sliding mode asymmetric barrier control (NTSMABC) algorithm is proposed. All the uncertain disturbances are regarded as a lump disturbance, and a radial basis function neural network (RBFNN) is designed to compensate for the output of the controllers. Unlike the traditional quadrotors, the robot controls the yaw angle by paddles when the robot flies on the water surface. To prevent the actuator saturation and the robot from rolling over due to excessive yaw angular velocity, an adaptive integral sliding mode barrier control (AISMBC) algorithm is proposed to constrain the yaw angular velocity directly. This algorithm adaptively adjusts the gain of the sliding surface to suppress the influence of the lump disturbance on the robot. Another RBFNN is designed to compensate for the output of the controller. Simulation results demonstrate the effectiveness of the proposed control methods.

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Bio-inspired design of hard-bodied mobile robots based on arthropod morphologies: a 10 year systematic review and bibliometric analysis

Cornejo,

Sierra-Garcia,

Gomez-Gil

et al. 2024

Bioinspir. Biomim.

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This research presents a 10-year systematic review based on bibliometric analysis of the bio-inspired design of hard-bodied mobile robot mechatronic systems considering the anatomy of arthropods. These are the most diverse group of animals whose flexible biomechanics and adaptable morphology, thus, it can inspire robot development. Papers were reviewed from two international databases (Scopus and Web of Science) and one platform (Aerospace Research Central), then they were classified according to: year of publication (January 2013 to April 2023), arthropod group, published journal, conference proceedings, editorial publisher, research teams, robot classification according to the name of arthropod, limb’s locomotion support, number of legs/arms, number of legs/body segments, limb’s degrees of freedom, mechanical actuation type, modular system, and environment adaptation. During the screening, more than 33000 works were analyzed. Finally, a total of 174 studies (90 journal-type, 84 conference-type) were selected for in-depth study: Insecta - hexapod (53,8%), Arachnida - octopods (20.7%), Crustacea - decapods (16,1%), and Myriapoda – centipedes and millipedes (9,2%). The study reveals that the most active editorials are the Institute of Electrical and Electronics Engineers Inc., Springer, MDPI, and Elsevier, while the most influential researchers are located in the USA, China, Singapore, and Japan. Most works pertained to spiders, crabs, caterpillars, cockroaches, and centipedes. We conclude that “arthrobotics” research, which merges arthropods and robotics, is constantly growing and includes a high number of relevant studies with findings that can inspire new methods to design biomechatronic systems.

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Locomotion Control for a Land-Air Hexapod Robot

Cited by 4 publications

References 17 publications

Kinematic Tripod (K3P): A New Kinematic Algorithm for Gait Pattern Generation

Kinematic Tripod (K3P): A New Kinematic Algorithm for Gait Pattern Generation

Water Surface Flight Control of a Cross Domain Robot Based on an Adaptive and Robust Sliding Mode Barrier Control Algorithm

Bio-inspired design of hard-bodied mobile robots based on arthropod morphologies: a 10 year systematic review and bibliometric analysis

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