Multi-Limbed Robot Vertical Two Wall Climbing Based on Static Indeterminacy Modeling and Feasibility Region Analysis

Lin, Xuan; Krishnan, Hari; Su, Yao; Hong, Dennis

doi:10.1109/iros.2018.8593734

Cited by 20 publications

(15 citation statements)

References 22 publications

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“…Henrey et al [19] included dry adhesive mechanisms on each foot of the hexapod Abigaille-III and evaluated the required adhesion forces to climb a vertical surface and determine the desired torque of the joints. The ability to climb in confined spaces, such as chimneys, using the estimation of the stiffness of the robot and the deformation between the feet and the wall to control the actuation of the joints was studied in [20]. The experiments that were carried out also used an Inertial Measurement Unit (IMU) to detect and control the tilting of the body during its ascending motion.…”

Section: Kinematic-based Controlmentioning

confidence: 99%

Trends in the Control of Hexapod Robots: A Survey

et al. 2021

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The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For this application, the control system must adapt the actuation of the limbs according to their surroundings to ensure that the hexapod does not tumble during locomotion. The most traditional approach considers their limbs as robotic manipulators and relies on mechanical models to actuate them. However, the increasing interest in model-free models for the control of these systems has led to the design of novel solutions. Through a systematic literature review, this paper intends to overview the trends in this field of research and determine in which stage the design of autonomous and adaptable controllers for hexapods is.

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Section: Kinematic-based Controlmentioning

confidence: 99%

Trends in the Control of Hexapod Robots: A Survey

et al. 2021

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“…For ground data, we uniformly sample the angle of normal vectors within the 30°region around the straight-up direction, while varying µ between [0.1, 0.8]. The wall data are collected to plan trajectories for the robot to climb up between two walls [21] with pure frictional contact. We vary the angles within the 30°region around the nominal direction as shown in the top right of Fig.…”

Section: A Trainingmentioning

confidence: 99%

“…2) Climbing between Walls: This problem is first studied by [21], which uses a stiffness based approach allowing the robot to brace between two walls and climb. A 2-stage decoupled approach is then used [3] to plan the climbing motion, where it plans the position p's without any knowledge of force.…”

Section: B Planningmentioning

confidence: 99%

Designing Multi-Stage Coupled Convex Programming with Data-Driven McCormick Envelope Relaxations for Motion Planning

Lin¹,

Ahn²,

Hong³

2021

Preprint

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For multi-limbed robots, motion planning with posture and force constraints tends to be a difficult optimization problem due to nonlinearities, which also present extended solve times. We propose a multi-stage optimization framework with data-driven inter-stage coupling constraints to address the nonlinearity. Both clustering and evolutionary approaches to find the McCormick envelope relaxations are used to find the problem-specific parameters. The learned constraints are then used in the prior stages, which provides advanced knowledge of the following stages. This leads to improved solve times and interpretability of the results. The planner is validated through multiple walking and climbing tasks on a 10 kg hexapod robot.

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“…For multi-limbed robots like SiLVIA, contact forces are statically indeterminate if more than 3 contacts are active. In [18], the virtual penetration into the wall δ wall and the body deformation δ com as shown in Fig. 2 are considered to determine contact forces indirectly.…”

Section: F Indirect Force Control For Silviamentioning

confidence: 99%

Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints

Zhang¹,

Lin²,

Hong³

2021

Preprint

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In order to achieve autonomous vertical wall climbing, the transition phase from the ground to the wall requires extra consideration inevitably. This paper focuses on the contact sequence planner to transition between flat terrain and vertical surfaces for multi-limbed climbing robots. To overcome the transition phase, it requires planning both multicontact and contact wrenches simultaneously which makes it difficult. Instead of using a predetermined contact sequence, we consider various motions on different environment setups via modeling contact constraints and limb switchability as complementarity conditions. Two safety factors for toe sliding and motor over-torque are the main tuning parameters for different contact sequences. By solving as a nonlinear program (NLP), we can generate several feasible sequences of foot placements and contact forces to avoid failure cases. We verified feasibility with demonstrations on the hardware SiLVIA, a sixlegged robot capable of vertically climbing between two walls by bracing itself in-between using only friction.

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Multi-Limbed Robot Vertical Two Wall Climbing Based on Static Indeterminacy Modeling and Feasibility Region Analysis

Cited by 20 publications

References 22 publications

Trends in the Control of Hexapod Robots: A Survey

Trends in the Control of Hexapod Robots: A Survey

Designing Multi-Stage Coupled Convex Programming with Data-Driven McCormick Envelope Relaxations for Motion Planning

Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints

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