Model validation of a hexapod walker robot

Kecskés, István; Burkus, Ervin; Bazsó, Fülöp; Ódry, Péter

doi:10.1017/s0263574715000673

Cited by 24 publications

(15 citation statements)

References 44 publications

(109 reference statements)

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“…The optimization could begin running once the parameters were initialized. The PSO parameters were selected based on earlier studies [84,85], whereas the filter parameters (x 0 , P 0 , Q, and R) were initialized by employing the results presented in [1]. As the sampling time in the ROS-based framework was relatively low (T s = 1ms), the adaptive strategy could be executed with bigger window size of L = 400; moreover, the length of the transform was L FFT = 2 9 and the threshold oscillation frequency and amplitude were f thr = 10 Hz and |Ω| thr = 0.26 rad/s, respectively.…”

Section: Tuning Of Filter Parametersmentioning

confidence: 99%

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

Odry

Kecskés

Šarčević

et al. 2020

Sensors

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This paper proposes a novel fuzzy-adaptive extended Kalman filter (FAEKF) for the real-time attitude estimation of agile mobile platforms equipped with magnetic, angular rate, and gravity (MARG) sensor arrays. The filter structure employs both a quaternion-based EKF and an adaptive extension, in which novel measurement methods are used to calculate the magnitudes of system vibrations, external accelerations, and magnetic distortions. These magnitudes, as external disturbances, are incorporated into a sophisticated fuzzy inference machine, which executes fuzzy IF-THEN rules-based adaption laws to consistently modify the noise covariance matrices of the filter, thereby providing accurate and robust attitude results. A six-degrees of freedom (6 DOF) test bench is designed for filter performance evaluation, which executes various dynamic behaviors and enables measurement of the true attitude angles (ground truth) along with the raw MARG sensor data. The tuning of filter parameters is performed with numerical optimization based on the collected measurements from the test environment. A comprehensive analysis highlights that the proposed adaptive strategy significantly improves the attitude estimation quality. Moreover, the filter structure successfully rejects the effects of both slow and fast external perturbations. The FAEKF can be applied to any mobile system in which attitude estimation is necessary for localization and external disturbances greatly influence the filter accuracy.The MEMS inertial measurement unit (IMU), composed of tri-axis MEMS accelerometer, gyroscope, and magnetometer sensors, also known as the measurement system of magnetic, angular rate, and gravity (MARG) sensor arrays, is the most commonly utilized device to track the real-time orientation of mobile platforms at present. The low-cost, low power consumption, and small size characteristics meet technological requirements, and therefore these devices have been widely utilized in embedded systems, where the filtering algorithm is executed by a microprocessor. As a result, an attitude and heading reference system (AHRS) has been formed, which provides the complete orientation measurement relative to the Earth's gravitational and magnetic fields (global reference system), where the attitude denotes the roll and pitch angles, whereas heading refers to the yaw Euler angle [19]. The role of the aforementioned filtering algorithm is to combine the individual features of each sensor and provide both properly smoothed and robust attitude results with regard to the global reference system, in either Euler angles or quaternions. The most common method applied in sensor fusion techniques synthesizes the short-term accuracy of gyroscope-based attitude realizations and the accelerometer and magnetometer provide rough, low-frequency attitude corrections. This technique cancels the accumulated error (drift), smooths the signals, and produces long-term stable outputs if the IMU is in stationary states. Significant decrease in estimation performance arises when...

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Section: Tuning Of Filter Parametersmentioning

confidence: 99%

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

Odry

Kecskés

Šarčević

et al. 2020

Sensors

Self Cite

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“…Previous articles by the authors (e.g., ref. [1]) provide a detailed discussion of stateof-the-art climbing and walking robots, comparing the mechanical implementations and optimization procedures for six-legged robots. Reference [2] summarizes the literature on different methods for the structural and gait optimization of walking robots.…”

Section: Related Workmentioning

confidence: 99%

Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots

et al. 2022

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This paper presents a novel model-based structural optimization approach for the efficient electromechanical development of hexapod robots. First, a hexapod-design-related analysis of both optimization objectives and relevant parameters is conducted based on the derived dynamical model of the robot. A multi-objective optimization goal is proposed, which minimizes energy consumption, unwanted body motion and differences between joint torques. Then, an optimization framework is established, which utilizes a sophisticated strategy to handle the optimization problems characterized by a large set of parameters. As a result, a satisfactory result is efficiently obtained with fewer iterations. The research determines the optimal parameter set for hexapod robots, contributing to significant increases in a robot’s walking range, suppressed robot body vibrations, and both balanced and appropriate motor loads. The modular design of the proposed simulation model also offers flexibility, allowing for the optimization of other electromechanical properties of hexapod robots. The presented research focuses on the mechatronic design of the Szabad(ka)-III hexapod robot and is based on the previously validated Szabad(ka)-II hexapod robot model.

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“…• The spatial dimensions of the system must fit into a very small space. Since the available space for the installation of actuation printed circuit board (PCB) is very small, the last requirement is the most challenging [17][18][19]. In order to fulfill this requirement, along with other constraints and demands, an extensive analysis of available integrated circuit (IC) solutions has been performed.…”

Section: Implementation Of Electronic System For Actuation Of Bdc Motorsmentioning

confidence: 99%

Fuzzy position-velocity control of underactuated finger of FTN robot hand

Raković

Anil

Mihajlović

et al. 2018

IFS

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The significant progress in robotics worldwide, brings further advancements in the design of the mechanical components, miniaturization of sensors and control hardware and more sophisticated control algorithms that come together with more available processing power. The state of the art humanoid robots are usually equipped with dexterous hands. This paper presents the design of the FTN robot hand for humanoid robot MARKO, with the emphasis on the fuzzy logic controller to control the Brushed DC motors used to actuate the underactuated fingers of the hand. The design of the robotic hand is highly anthropomorphic and biologically inspired by the human hands. The hand is passively adaptive to the shape of an object, due to a tendon-driven mechanism and torsional spring in each finger joint. Each of the five fingers has three DOFs (Degrees Of Freedom), except the thumb which has an additional DOF, for the rotation in its base. The fingers are tendon-driven, actuated with five DC motors, embedded in the palm. The proposed fuzzy controller is used to control the position of each finger. The results of the controller are compared with traditional PID control algorithms tuned with Ziegler-Nichols tuning method. The algorithms are first developed in a simulation environment and later are implemented on a real-time ARM Cortex M4 controller.

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Model validation of a hexapod walker robot

Cited by 24 publications

References 44 publications

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots

Fuzzy position-velocity control of underactuated finger of FTN robot hand

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