Real-time gait planning method for six-legged robots to optimize the performances of terrain adaptability and walking speed

Chen, Zhijun; Liu, Jimu; Gao, Feng

doi:10.1016/j.mechmachtheory.2021.104545

Cited by 26 publications

(3 citation statements)

References 29 publications

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“…For example, the authors have built a four-legged walking robot modelled on insects [1,2] or mammals [3,4]. A general review of the development of such machines has been done for four-legged robots [5,6].…”

Section: Introductionmentioning

confidence: 99%

The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

Popowniak

2024

TransNav

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Section: Introductionmentioning

confidence: 99%

The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

Popowniak

2024

TransNav

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“…Gu et al 15 proposed a robotic leg based on an alternative form of the Bennett linkage with coaxial actuation, with omni-directional ground locomotion projected from a three-dimensional surface workspace. Chen et al 16 developed a six-legged robot that has six legs arranged hexagonally around it. Each leg is a parallel mechanism composed of a UP chain and two UPS chains.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a concentrated-driven bionic-leg capable of omnidirectional legged locomotion based on 3-Dimensional dual-parallelogram-linkages

Luo

Shang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The Flexible, fast and lightweight leg mechanism is the key to improve legged robot’s mobility, efficiency and adaptability on complex terrain. Inspired by the motion mechanism of legged animals, we report a concentrated-driven omnidirectional legged locomotion bionic leg – OmniLeg. All the motor actuators are centrally installed in the hip plate of the proposed leg to reduce the rotational inertia. Meanwhile, the special 3-Dimensional dual-parallelogram-linkages transmission mechanism enables it to have the ability of omnidirectional legged locomotion in 3-Dimensional space and makes the posture of leg’s endpoint does not change with the motion of the leg mechanism which simplifying the motion control. In this paper, firstly the theoretical model, including mobility, kinematics model, inverse kinematics model, dimension parameters and workspace model, have been derived, analyzed and verified with the design and control of the real prototype. Next, to demonstrate the ability of omnidirectional legged locomotion intuitively, we manufacture a single-legged omnidirectional mobile robot and design a quadruped robot, and the simulation and experiment result illustrate that the design and analytical mode of OmniLeg is feasible and correct, which could be widely applied in the field of legged robot.

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“…Xu et al proposed a new method based on metamorphosis and an equivalent mechanism to analyze the stability margin and stable workspace of multi-legged robots [12]. Chen et al proposed a novel gait planning method for six-legged robots to optimize terrain adaptability and walking speed [13]. Xu et al proposed a sliding Monte Carlo tree search (MCTS) method to effectively balance optimization and search operations by introducing a moving root node and controlling the sampling time [14].…”

Section: Introductionmentioning

confidence: 99%

Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot

Hu,

Ma,

Chen

et al. 2023

JMSE

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Bionic-legged robots draw inspiration from animal locomotion methods and structures, demonstrating the potential to traverse irregular and unstructured environments. The ability of Portunus trituberculatus (Portunus) to run flexibly and quickly in amphibious environments inspires the design of systems and locomotion methods for amphibious robots. This research describes an amphibious crab-like robot based on Portunus and designs a parallel leg mechanism for the robot based on biological observations. The research creates the group and sequential gait commonly used in multiped robots combined with the form of the robot’s leg mechanism arrangement. This research designed the parallel leg mechanism and modeled its dynamics. Utilizing the outcomes of the dynamics modeling, we calculate the force and torque exerted on each joint of the leg mechanism during group gait and sequential gait when the robot is moving with a load. This analysis aims to assess the performance of the robot’s motion. Finally, a series of performance evaluation experiments are conducted on land and underwater, which show that the amphibious crab-like robot has good walking performance. The crab-like robot can perform forward, backward, left, and right walking well using group and sequential gaits. Simultaneously, the crab-like robot showcases faster movement in group gaits and a more substantial load capacity in sequential gaits.

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Real-time gait planning method for six-legged robots to optimize the performances of terrain adaptability and walking speed

Cited by 26 publications

References 29 publications

The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

The Hexapod Modernization Process and Its Impact on the Locomotion Efficiency of the Unit

Design and analysis of a concentrated-driven bionic-leg capable of omnidirectional legged locomotion based on 3-Dimensional dual-parallelogram-linkages

Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot

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