Locomotion control of a four-legged robot embedding real-time reasoning in the force distribution

Martins-Filho, Luiz S.; Prajoux, R.

doi:10.1016/s0921-8890(99)00128-1

Cited by 13 publications

(7 citation statements)

References 12 publications

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“…The ratio µ t between the tangent and normal components of the reaction force on the soil-foot contact must respect the friction constraint, i.e. µ t ≤µ (Klein & Kittivatcharapong, 1990;Martins-Filho & Prajoux, 2000;Zhang et al, 1996b). For the analysis of the constraints listed above, we consider the static constraint vector defined by: used to determine when a boundary point is attained, i.e.…”

Section: The Workpace Of the Leg Mechanismsmentioning

confidence: 99%

“…On this context, several control system architectures have been proposed looking for the improvement of the robot autonomy, and of the tasks planning capabilities, as well reactive characteristics to deal with unexpected events (Medeiros et al, 1996;Martins-Filho & Prajoux, 2000). The proposed solutions to the locomotion on hazardous and strongly irregular soils include adapted wheels robots, rovers, robots equipped with caterpillar systems, and walking robots.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach

Silvino¹,

Resende²,

Martins-Filho³

et al. 2007

Climbing and Walking Robots: Towards New Applications

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Section: The Workpace Of the Leg Mechanismsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach

Silvino¹,

Resende²,

Martins-Filho³

et al. 2007

Climbing and Walking Robots: Towards New Applications

View full text Add to dashboard Cite

“…To date, various methods for force distribution problems have been proposed. For example, methods based on a pseudo inverse matrix method [9], a linear programming method (LP method) [7], and a quadratic programming method (QP method) [23,24] were proposed. In this study, the standard QP method is applied to consider inequality constraints and a quadratic evaluation function as follows.…”

Section: Robot Dynamicsmentioning

confidence: 99%

“…Estremera and Santos proposed a free gait, which allows the quadruped robot (SILO4) to have a statically stable gait by searching for optimal footholds [5,6]. Many researchers have also suggested the force distribution method to prevent slippage on irregular terrains in simulations [7][8][9][10]. Currently, there is a real robot that can avoid slippage by distributing contact forces optimally using joint torque control [11].…”

Section: Introductionmentioning

confidence: 99%

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Ambe

Matsuno

2016

Robomech J

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Problems can often occur when a legged robot attempts to walk on irregular or damaged terrain, such as in search and rescue missions during natural and man-made disasters. In some cases, the ground beneath the robot will collapse because of the pressure of its weight, causing the machine to lose its foothold and topple over. This is a point to which we as designers must pay careful attention when designing a robot. Thus, in such irregular areas, the robot should walk carefully so as not to collapse its footholds. To attempt to solve this problem, we proposed the "leg-grope walk" method which allows a quadruped robot to avoid stumbling or causing a large collapse of the surrounding area on weak horizontal planes. Specifically, when the robot puts its foot on the ground, it applies some excess force on the ground and confirms whether the foothold is likely to collapse, so as to choose a foothold will not collapse. In this study, we extended this method to weak and irregular slopes, where slippage needs to be considered. A new walking method was designed using a force distribution method. To validate the method, we show simulation results from force distribution and robotic experiments in various environments. These results demonstrate that our method allows a robot to walk carefully without slipping or stumbling, even when its foothold is lost.

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“…A disadvantage of legged propulsion is the need for a highly advanced motion control system. Martins-Filho and Prajoux [50] present an application of rule-based reasoning to manage in real time the force distribution within a locomotion control of a four-legged walking robot. Other drawbacks with legged machines are the slow speed and inconvenience when the machine is towed.…”

Section: Basic Machine Conceptmentioning

confidence: 99%

Requirements and system design for a robot performing selective cleaning in young forest stands

Vestlund

Hellström

2006

Journal of Terramechanics

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Cleaning is a silvicultural tending operation, primarily aimed at improving the growing conditions of the remaining trees in young stands (ca. 3 m of height). The cost of cleaning has increased in comparison to other forest operations, and the annually cleaned area has decreased in Sweden. Therefore, cleaning with robots might be the key to improve profitability. This paper aims at assessing some design requirements, and suggesting an architecture for a robot cleaning in young forest stands, based on reviewed literature and our own research. The results of cleaning performed by robots have to reach acceptable results and be done at a competitive cost. The robot has to find, select, and handle trees in the whole assigned area according to given instructions. Furthermore, it must be safe for humans, capable of moving safely within the forest environment, and be able to handle snow and other prevalent boreal weather conditions. The vehicleÕs size and mass are of importance, and bear on its ability to manoeuvre among remaining stems. Generally, the robot must be capable of operating independently and unattended for several hours in a dynamic and non-deterministic environment. Obstacle avoidance and target identification are identified as the most difficult problems. Machine vision, radar, and laser scanners are promising techniques for both obstacle avoid- Journal of Terramechanicsance, tree identification, and tool control. The proposed architecture is based on a hybrid between the reactive and the hierarchical robot paradigms.

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Locomotion control of a four-legged robot embedding real-time reasoning in the force distribution

Cited by 13 publications

References 12 publications

Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach

Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Requirements and system design for a robot performing selective cleaning in young forest stands

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