Minimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution

Wang, Guanyu; Ding, Liang; Gao, Haibo; Deng, Zongquan; Liu, Zhen; Yu, Haitao

doi:10.1109/access.2019.2962527

Cited by 28 publications

(16 citation statements)

References 39 publications

(47 reference statements)

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“…Simulation, design, and control of six-legged robots are still a current research field, attracting many researchers in recent years (12,(19)(20)(21)(22) . While many unmanned robots are already used practically in the real world environment, further research is required for bringing six-legged robots in the real-world applications (12) .…”

Section: Literature Reviewmentioning

confidence: 99%

“…While many unmanned robots are already used practically in the real world environment, further research is required for bringing six-legged robots in the real-world applications (12) . Desirable optimization, for this aim, includes reduction of acceleration of foot landing, the variation of the trunk body velocity (20) , energy consumption (22) , increasing stability (23) , gait adaptation (24) , etc. An important drawback of the six-legged robots is that they need numerous actuators and sensors.…”

Section: Literature Reviewmentioning

confidence: 99%

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Dynamic simulation and design of a simple hexapod robot

Alshammari¹

2020

IJST

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Background/Objectives: For motions in off-road navigation, including sandy or wet natural environments and space explorations legged machines, mimicking anatomy of legged animals are efficient. However, the traditional full-actuated legged robots are heavy with complex actuation and control systems, as for each degree of freedom separate actuator is used. The purpose of this work is to develop a kinematic model using a single-actuator for hexapod legged robot taking advantage of bio-inspiration and mechanism design techniques. Methods/Statistical analysis: A vector analysis method was used for measuring the system kinematics equations. The simulation of the walking process was performed using MATLAB. A real prototype of the system has been fabricated based on the design, which is not bulky due to use of single motor, and does not require complex control and sensor systems. Findings: Simulations showed that the kinematic model along with the hypothesis on the ground interaction describes the locomotion, which can be used where robots with low-speed repositioning are required. Theoretical analysis, virtual prototype simulations, as well as initial experiments with the physical prototype, showed an efficient functionality of the system. Novelty/Applications: The design and kinematic model can be used for developing low-energy environmental robots for remote areas with occasional relocation requirements. Keywords: Biomimetic environmental robot; kinematic analysis; mechanism design; tripod gait; walking mechanism

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Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Dynamic simulation and design of a simple hexapod robot

Alshammari¹

2020

IJST

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“…For each three-legged support state, the domain of the adjustable attitude angle, namely E τ n , can be computed through the way discussed above. Then, the final domain of the adjustable attitude angle can be computed by calculating the intersection set of E τ n , and the adjustable attitude angle should satisfy this domain, just as shown in Equation (17):…”

Section: Constraints Of the Desired Attitude Angle Values And The Devmentioning

confidence: 99%

“…During computation, constraints to reduce foot slip and ensure system force equilibrium were also employed. Wang et al [17] employed a similar idea of energy consumption optimization. In their method, equality constraints of dynamic system force and moment equilibrium, and inequality constraints of joint torque limitations were introduced.…”

Section: Introductionmentioning

confidence: 99%

“…For most currently developed legged robots, the support leg trajectory is usually designed only according to the motion direction and the desired walking velocity of the center of mass (CoM). During this process, the trajectories of the attitude angles are not taken into consideration [11,17,30,31]. This is why the motions of the support legs cannot adapt to the changes of the external terrain conditions, and additional balance control methods like the feedforward foot force control methods or the virtual model control methods are needed to be introduced into the control systems.…”

Section: Introductionmentioning

confidence: 99%

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Attitude Trajectory Optimization to Ensure Balance Hexapod Locomotion

Chen

Wei

Wang

et al. 2020

Sensors

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This paper proposes a simple attitude trajectory optimization method to enhance the walking balance of a large-size hexapod robot. To achieve balance motion control of a large-size hexapod robot on different outdoor terrains, we planned the balance attitude trajectories of the robot during walking and introduced how leg trajectories are generated based on the planned attitude trajectories. While planning the attitude trajectories, high order polynomial interpolation was employed with attitude fluctuation counteraction considered. Constraints that the planned attitude trajectories must satisfy during walking were well-considered. The trajectory of the swing leg was well designed with the terrain attitude considered to improve the environmental adaptability of the robot during the attitude adjustment process, and the trajectory of the support leg was automatically generated to satisfy the demand of the balance attitude trajectories planned. Comparative experiments of the real large-size hexapod robot walking on different terrains were carried out to validate the effectiveness and applicability of the attitude trajectory optimization method proposed, which demonstrated that, compared with the currently developed balance motion controllers, the attitude trajectory optimization method proposed can simplify the control system design and improve the walking balance of a hexapod robot.

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Motion planning and contact force distribution for heavy‐duty hexapod robots walking on unknown rugged terrains

Ding,

Gong,

et al. 2024

Journal of Field Robotics

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Heavy‐duty hexapod robots have impressive stability, high load‐bearing capacity, and exceptional adaptability to rugged terrains. They are capable of working in challenging outdoor environments such as planetary exploration, disaster relief and mountain transportation. Their ability to traverse terrain requires effective motion planning and accurate force distribution, neither of which is currently at the level required for widespread practical applications. In this paper, the mechanical legs are divided into support and swing legs, and the adaptability of the hexapod robot to unknown rugged terrain is enhanced by introducing the Decomposition Quadratic Programming‐based Contact Force Distribution (DQP‐based CFD) method. Moreover, an efficient replanning strategy can handle accidental collisions between swinging legs and unmodelled obstacles. Extensive field experiments demonstrate the effectiveness of our proposed motion planning and contact force distribution methods.

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Minimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution

Cited by 28 publications

References 39 publications

Dynamic simulation and design of a simple hexapod robot

Dynamic simulation and design of a simple hexapod robot

Attitude Trajectory Optimization to Ensure Balance Hexapod Locomotion

Motion planning and contact force distribution for heavy‐duty hexapod robots walking on unknown rugged terrains

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