Review of Gait Analysis and Planning of Legged Robot

Li, Jiahan; Sun, Ying; Wu, Hao

doi:10.2991/meici-17.2017.157

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…Robots are the prime choice for probing such environments (Agheli and Nestinger, 2016; Arevalo et al , 2014; Zhong et al , 2017). Compared with wheeled mobile robots (Song et al , 2016; Grand et al , 2004) and tracked robots (Fujita and Tsuchiya, 2015; Lee et al , 2003), legged robots are more stable and maneuverable in rugged areas (Zhong et al , 2016; Li et al , 2017). However, hexapodal robots typically suffer from redundant drive systems (Yang and Feng, 2014) and complicated mechanical structures; hence, their movement control is tedious.…”

Section: Introductionmentioning

confidence: 99%

Deviation from the direction of motion across gaits in a hexapodal robot

Niu

Zhan²,

Cui

2020

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Purpose The purpose of this study is to test a chassis robot on rugged road cargo handling. Design/methodology/approach Attitude solution of D-H series robot gyroscope speed and acceleration sensor. Findings In identical experimental environments, hexapodal robots experience smaller deviations when using a four-footed propulsive gait from a typical three-footed gait for forward motion; for the same distance but at different speeds, the deviation basically keeps itself within the same range when the robot advances forward with four-foot propulsive gait; because the foot slide in the three-footed gait sometimes experiences frictions, the robot exhibits a large gap in directional deviations in different courses during motion; for motion using a four-footed propulsive gait, there are minor directional deviations of hexapodal robots resulting from experimental errors, which can be reduced through optimizing mechanical structures. Originality/value Planning different gaits can solve problems existing in some typical gaits. This article has put forward a gait planning method for hexapodal robots moving forward with diverse gaits as a redundant multifreedom structure. Subsequent research can combine a multiparallel-legged structure to analyze kinematics, optimize the robot’s mechanical structure and carry out in-depth research of hexapod robot gaits.

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