New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

Koco, Edin; Mutka, Alan; Kovačić, Zdenko

doi:10.5772/63893

Cited by 11 publications

(12 citation statements)

References 35 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Quadruped robots that are less stable than hexapod robots are seen as prime candidates for the implementation of the proposed control approach. [37][38][39] Figure 26. Compensation of COB orientation disturbances while overcoming a 4 cm high obstacle without knowledge of the terrain ahead (using only IMU and force sensors).…”

Section: Resultsmentioning

confidence: 99%

Analytically founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot

Fućek¹,

Kovačić

Bogdan

2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This article presents a new control algorithm for the omnidirectional motion of a legged robot on uneven terrain based on an analytical kinematic solution without the use of Jacobians. In order to control the robot easily and efficiently in all situations, a simplified circle-based workspace approximation has been introduced. Foot trajectories for legged robot movement were generated on concentric circular paths around an analytically computed common centre of motion. This systematic motion model, together with new gait control variables that can be changed during legged robot motion, enabled the implementation of a new adaptive gait phase control algorithm, as well as the addition of algorithms for ground-level adaptation, 3-dimensional map-based step adjustment and fusion of all corrections to establish and/or maintain foot contact with the ground. The method being applicable to different legged robot designs was performed and tested on the laboratory prototype of a hexagonal hexapod robot, and the results of the experiments showed the practical value of the proposed adaptive yaw control method (available also as a video supplement).

show abstract

Section: Resultsmentioning

confidence: 99%

Analytically founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot

Fućek¹,

Kovačić

Bogdan

2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Several researchers have also considered the employment of nonlinear leg distal compliance. As a representative example, Figure 10a displays a small-scale electrically driven quadruped robot which has four identical three-segment legs [85,86]. Each leg joint of the robot is powered by a DC servo motor in connection with high-ratio gear reduction.…”

Section: Category Iii: Leg Distal Compliancementioning

confidence: 99%

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms

Chen

Liang

Zhu

et al. 2019

Sensors

View full text Add to dashboard Cite

Physical compliance has been increasingly used in robotic legs, due to its advantages in terms of the mechanical regulation of leg mechanics and energetics and the passive response to abrupt external disturbances during locomotion. This article presents a review of the exploitation of physical compliance in robotic legs. Particular attention has been paid to the segmented, electrically actuated robotic legs, such that a comparable analysis can be provided. The utilization of physical compliance is divided into three main categories, depending on the setting locations and configurations, namely, (1) joint series compliance, (2) joint parallel compliance, and (3) leg distal compliance. With an overview of the representative work related to each category, the corresponding working principles and implementation processes of various physical compliances are explained. After that, we analyze in detail some of the structural characteristics and performance influences of the existing designs, including the realization method, compliance profile, damping design, and quantitative changes in terms of mechanics and energetics. In parallel, the design challenges and possible future works associated with physical compliance in robotic legs are also identified and proposed. This article is expected to provide useful paradigmatic implementations and design guidance for physical compliance for researchers in the construction of novel physically compliant robotic legs.

show abstract

“…A new passive adaptive control method is presented in [27] for quadruped robots to achieve compliant balance. A novel variable passive-compliant element is designed for quadruped robot control [28]. [29] proposes a new passive independent suspension system for a tracked skid steering robot adaptively in complex terrain.…”

Section: Introductionmentioning

confidence: 99%

Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Zhou

et al. 2020

IEEE Access

View full text Add to dashboard Cite

All terrain vehicles (ATV) perform tasks in unstructured environments where the advanced adaptive ability of rigid terrain has become a key factor. In this paper, we propose a novel horse inspired all terrain eight-wheeled vehicle with four swing arms for transportation in the mountain battlefield. The mechanism structure and system configuration of the ATV are designed based on the horse leg kinematics analysis. In order to analyze the obstacle surmounting strategy of the ATV, the kinematics model and the center of gravity of the ATV are represented. A model reference adaptive control method is proposed for the hydraulic attitude control system. Then the model for obstacle surmounting is proposed for dynamics performance and geometric kinematics. Additionally, the simulation is executed in Adams to verify the analysis and strategy. Finally, the experiment is demonstrated for climbing a vertical wall, which is a challenging and typical terrain of the mountain battlefield.

show abstract

New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

Cited by 11 publications

References 35 publications

Analytically founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot

Analytically founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms

Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Contact Info

Product

Resources

About