Quickly Obtaining Range of Articulated Rotating Speed for Electrically Driven Large-Load-Ratio Six-Legged Robot Based on Maximum Walking Speed Method

Zhuang, Hongchao; Wang, Ning; Gao, Haibo; Deng, Zongquan

doi:10.1109/access.2019.2901903

Cited by 7 publications

(6 citation statements)

References 29 publications

(44 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to facilitate the theoretical analysis of the algorithm, this article takes the mathematical model of the four-wheel mobile robot as an example, as shown in Figure 6. The front and rear wheelbase of the robot is L. The distance between the midpoint of the wheel and the midpoint of the robot system is d, as shown in Equation (17). The motion direction angle of the robot is θ.…”

Section: Robot System Modelmentioning

confidence: 99%

“…Under the nonholonomic constraints, the external distributed sensor method was applied. The finite-time convergence problem of multi-robot cooperative control was studied [16,17]. The motion consistency problem of complex multi-robots was studied, and the dynamic formation of multi-mobile robots was realized by designing a distributed formation control law [18,19].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Multi-Robot Leader Grouping Consistent Formation Control Method Research with Low Convergence Time Based on Nonholonomic Constraints

et al. 2022

Self Cite

View full text Add to dashboard Cite

Aiming at the formation and maintenance of the multiple formations of nonholonomic constrained multi-robots, a leader-follower formation control method under the grouping consistency is proposed on the trajectory tracking of a nonholonomic constrained mobile robots with the low convergence time. The distributed control structure in the leader-follower formation is adopted. The multi-robot cooperative formation is realized by using the consistency algorithm of graph theory. According to the graph theory, the communication topology matrixes are designed by the consistency algorithm. The mathematical model of nonholonomic constrained robot is established with the wheeled structure as the mobile structure under the nonholonomic constraints. Then the navigation following model is transformed into the error model of a local coordinate system through the global coordinate transformation. The formation control law of multi-robot cooperative motion is put forward based on the leader-follower model. Its convergence is proved by the Lyapunov function. By setting the reasonable communication protocol parameters, the MATLAB software (Natick, MA, USA, R2016b) is employed on the simulation verification and result comparison. Through the comparison of the two leader formation control methods, the convergence time of the algorithm in this article can be 25% less than that of PFC. The effectiveness and feasibility of the formation control law are verified under the leader-follower method. The proposed control method lays a foundation for reducing the convergence time to improve the multi-robot cooperative motion under nonholonomic constraints.

show abstract

Section: Robot System Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Multi-Robot Leader Grouping Consistent Formation Control Method Research with Low Convergence Time Based on Nonholonomic Constraints

et al. 2022

Self Cite

View full text Add to dashboard Cite

show abstract

“…Based on Equations (3), (10), and (11), the total articulated torques of the support leg s k can be respectively acquired for the torque ( )…”

Section: Jqmentioning

confidence: 99%

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

Zhuang

Wang

Gao

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

To research the power consumption characteristics of mobile system of an electrically driven large-load-ratio six-legged robot with engineering capability is beneficial to speed up it toward practicability. Based on the configuration and walking modes of robot, the mathematical model of the power consumption of mobile system is set up. In view of the tripod gait is often selected for the six-legged robots, the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot's statically indeterminate problem and constructing the equal force distribution. Then, the power consumption of robot mobile system is solved under different working conditions. The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint, body height, and span. The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption. According to the walking experiments of prototype, the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in the duty ratio, body height, and span. Then, the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system. The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

show abstract

“…•3• ATHLETE [7], Dante II [8], and so on, Zhuang et al [9][10][11] concluded that the main characteristics of the large-load-ratio legged robots roughly included the larger body mass, bigger body size and large load ratio than the conventional legged robots. The independent energy supply units necessarily need to be carried when the working environment of large-load-ratio legged robots is changed from the laboratory to the outdoor.…”

Section: Introductionmentioning

confidence: 99%

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

Zhuang

Wang

Gao

et al. 2023

Chin. J. Mech. Eng.

Self Cite

View full text Add to dashboard Cite

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration. However, due to the particularity of its parallel structure, the effective utilization rate of energy is not high, which has become an important obstacle to its practical application. To research the power consumption characteristics of robot mobile system is beneficial to speed up it toward practicability. Based on the configuration and walking modes of robot, the mathematical model of the power consumption of mobile system is set up. In view of the tripod gait is often selected for the six-legged robots, the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot's statically indeterminate problem and constructing the equal force distribution. Then, the power consumption of robot mobile system is solved under different working conditions. The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint, body height, and span. The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption. According to the walking experiments of prototype, the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio, body height, and span. Then, the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system. The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

show abstract

Quickly Obtaining Range of Articulated Rotating Speed for Electrically Driven Large-Load-Ratio Six-Legged Robot Based on Maximum Walking Speed Method

Cited by 7 publications

References 29 publications

Multi-Robot Leader Grouping Consistent Formation Control Method Research with Low Convergence Time Based on Nonholonomic Constraints

Multi-Robot Leader Grouping Consistent Formation Control Method Research with Low Convergence Time Based on Nonholonomic Constraints

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

Contact Info

Product

Resources

About