Method for six-legged robot stepping on obstacles by indirect force estimation

Xu, Yanling; Gao, Feng; Pan, Yang; Chai, Xun

doi:10.3901/cjme.2016.0122.012

Cited by 19 publications

(9 citation statements)

References 18 publications

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“…Actuations are easily matched to get high load capacity. A six-legged robot prototype with isotropy in horizontal plane [13,37] is shown in Figure 4, which was designed by the authors' research team.…”

Section: Examples Of Type R-pmentioning

confidence: 99%

Type Synthesis of Walking Robot Legs

Gao

2018

Chin. J. Mech. Eng.

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Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function (GF) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of design. Number synthesis problem is decomposed into two stages, actuation and constraint synthesis by name, corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Section: Examples Of Type R-pmentioning

confidence: 99%

Type Synthesis of Walking Robot Legs

Gao

2018

Chin. J. Mech. Eng.

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“…We employed the indirect force estimation method to roughly examine the TD of each swing leg when the support force is big enough. 25 If the swing leg tracking the planned trajectory does not touch down, we would reschedule the trajectory and extend the leg. Otherwise, if TD is physically detected, we would decelerate the moving leg with the maximum deceleration until it stops to zero velocity.…”

Section: Simulation and Experimentsmentioning

confidence: 99%

Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning

Tian

Gao

2017

Robotica

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SUMMARYIn this paper, an efficient motion planning method is proposed for a six-legged robot walking on irregular terrain. The method provides the robot with fast-generated free-gait motions to traverse the terrain with medium irregularities. We first of all introduce our six-legged robot with legs in parallel mechanism. After that, we decompose the motion planning problem into two main steps: first is the foothold selection based on a local footstep cost map, in which both terrain features and the robot mobility are considered; second is a whole-body configuration planner which casts the problem into a general convex optimization problem. Such decomposition reduces the complexity of the motion planning problem. Along with the two-step planner, discussions are also given in terms of the robot-environmental relationship, convexity of constraints and robot rotation integration. Both simulations and experiments are carried out on typical irregular terrains. The results demonstrate effectiveness of the planning method.

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“…The multiarm robot mechanism is a type of mechanism that is composed of several kinematic chains in a serial connection. The typical multiarm robot mechanisms are structurally similar and include a multiarm cooperative operation mechanism, space manipulator, certain multifingered hand mechanisms, and a walking robot [1][2][3][4][5][6][7]. The finger or leg of the multifingered or walking robot mechanism can be treated as the arm of the multiarm robot mechanism.…”

Section: Introductionmentioning

confidence: 99%

Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

Zhao

Guo

et al. 2020

Chin. J. Mech. Eng.

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As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequately folded into a designed area. The robot can achieve different operation modes by combining different arms and objects. First, deployable kinematic chains (DKCs) are designed, which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism. The strategy of a platform for storing DKCs is proposed. Based on the restrictions in the storage area and the characteristics of parallel mechanisms, a class of DKCs, called base assembly library, is obtained. Subsequently, an assembly method for the synthesis of the multiarm robot mechanism is proposed, which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure. The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object. Using this method, two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed. The obtained mechanisms have observable advantages when compared with the traditional mechanisms, including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.

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Method for six-legged robot stepping on obstacles by indirect force estimation

Cited by 19 publications

References 18 publications

Type Synthesis of Walking Robot Legs

Type Synthesis of Walking Robot Legs

Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning

Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

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