Prototype development and gait planning of biologically inspired multi-legged crablike robot

Chen, Xi; Wang, Liquan; Ye, Xiufen; Wang, Gang; Wang, Hailong

doi:10.1016/j.mechatronics.2013.03.006

Cited by 50 publications

(23 citation statements)

References 12 publications

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“…As a proof of concept, we consider the transformation from digitigrade locomotion (d 5,7 : + 20%) to step climbing (d 3,6 : + 16%). The proposed method is as follows:…”

Section: Characterization Of Leg Transformationmentioning

confidence: 99%

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On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Nansai

Rojas

Elara

et al. 2015

Advances in Mechanical Engineering

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Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconfigurable Theo Jansen linkage that produces a wide variety of gait cycles, opening new possibilities for innovative applications. The suggested mechanism switches from a pin-jointed Grübler kinematic chain to a 5-degree-of-freedom mechanism with slider joints during the reconfiguration process. It is shown that such reconfigurable linkage significantly extend the capabilities of the original design, while maintaining its mechanical simplicity during normal operation, to not only produce different useful gait patterns but also to realize behaviors beyond locomotion. Experiments with an implemented prototype are presented, and their results validate the proposed approach.

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“…As a proof of concept, we consider the transformation from digitigrade locomotion (d 5,7 : + 20%) to step climbing (d 3,6 : + 16%). The proposed method is as follows:…”

Section: Characterization Of Leg Transformationmentioning

confidence: 99%

“…Figure 5 (left) shows some steps of a simulation of the leg transformation from digitigrade locomotion (d 5,7 : + 20%) to step climbing (d 3,6 : + 16%). The binary links of variable dimension and the vertical movement of the grounded revolute joint centers are highlighted in cyan and light green.…”

Section: For Each Of the Link Dimensions Determined Inmentioning

confidence: 99%

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Nansai

Rojas

Elara

et al. 2015

Advances in Mechanical Engineering

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show abstract

“…There are two main kinds of gait planning methods for biped robot: bionic method based on human walking data (HMCD) and the planning method which based on stability [4]. The latter one is typically a gait planning method based on the stability criterion of zero-moment point (ZMP) [5].…”

Section: Gait Analysis and Planning Of Biped Robotmentioning

confidence: 99%

Review of Gait Analysis and Planning of Legged Robot

Li¹,

Sun²,

Wu³

2017

Proceedings of the 7th International Conference on Management, Education, Information and Control (MEICI 2017)

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“…magnetic type, 1 gripping type, 2 rail guided type, 3 biomimetic type, 4 and suction type 5 ) and the locomotion mechanism (e.g. legged type, 6 tracked type, 7 translation type, 3 cable-driven type, 8 and wheeled type 9 ), which are the two major issues in the design of climbing robots. Suction adhesion, which is the most commonly used adhesion method, can be widely adopted for less rough surfaces because it enables strong attachment to the surfaces regardless of materials such as glass, ceramics tiles, and cement.…”

Section: Introductionmentioning

confidence: 99%

Concise method to the dynamic modeling of climbing robot

Liu

2017

Advances in Mechanical Engineering

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With the aim of dynamic modeling of the climbing robot with dual-cavity structure and wheeled locomotion mechanism, a succinct and explicit equation of motion based on the Udwadia-Kalaba equation is established. The trajectory constraint of the climbing robot, which is regarded as the external constraint of the system, is integrated into the dynamic equation dexterously. A modified numerical method is considered to reduce the errors because the numerical results obtained by integrating the constrained dynamic equation yield the errors. The trajectories are almost coincident by comparing the modified numerical value and the theoretical value. The driving torques required to guarantee the climbing robot to move along the given trajectory are obtained explicitly, which overcomes the disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier. The simulations are performed to demonstrate that the dynamical equation established by this method with brevity and accuracy is in accordance with reality status.

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Prototype development and gait planning of biologically inspired multi-legged crablike robot

Cited by 50 publications

References 12 publications

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Review of Gait Analysis and Planning of Legged Robot

Concise method to the dynamic modeling of climbing robot

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