Mechanical Design of A Modular Quadruped Robot - Xdog

Xie, Hongwei; Shang, Jianzhong; Zhang, Zhixiong; Luo, Zirong

doi:10.2991/meic-14.2014.237

Cited by 2 publications

(2 citation statements)

References 14 publications

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“…The legs are entirely under the body, not the side. The design imitates mammalian structure, which is more conducive to the realization of the small ground occupation and strong load-bearing capacity [27]. The robot has a 2DOF platform with a USB camera, which can monitor a wide range of video images.…”

Section: Control Systemmentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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Gait is an important research content of hexapod robots. To better improve the motion performance of hexapod robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies the straight gait of a small electric hexapod robot with a low cost, which can be used in daily life. The strategy of “increasing duty factor” is put forward in the gait planning, which aims to reduce foot sliding and attitude fluctuation in robot motion. The straight gaits of the robot include tripod gait, quadrangular gait, and pentagonal gait, which can be described conveniently by discretization and a time sequence diagram. In order to facilitate the user to control the robot to achieve all kinds of motion, an online gait transformation algorithm based on the adjustment of foot positions is proposed. In addition, according to the feedback of the actual attitude information, a yaw angle correction algorithm based on kinematics analysis and PD controller is designed to reduce the motion error of the robot. The experiments show that the designed gait planning scheme and control algorithm are effective, and the robot can achieve the expected motion. The RMSE of the row, pitch, and yaw angle was reduced by 35%, 25%, and 12%, respectively, using the “increasing duty factor” strategy, and the yaw angle was limited in the range −3°~3° using the yaw angle correction algorithm. Finally, the comparison with related works and the limitations are discussed.

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Section: Control Systemmentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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“…The BigDog quadrupeds (Raibert et al, 2008) developed by the Boston Dynamics, Inc., is a renowned example of walking robots built for outdoor applications, whose design is inspired by the skeleton of mammals. 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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Mechanical Design of A Modular Quadruped Robot - Xdog

Cited by 2 publications

References 14 publications

Straight Gait Research of a Small Electric Hexapod Robot

Straight Gait Research of a Small Electric Hexapod Robot

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

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