Several Insights into Omnidirectional Static Walking of a Quadruped Robot on a slope

Zhang, Lei; Ma, Shugen; Inoue, Kenji

doi:10.1109/iros.2006.281667

Cited by 10 publications

(4 citation statements)

References 13 publications

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“…The chosen gait patterns for reproduction were static walking and trot, akin to those presented in [ 48 , 49 , 50 ]. For symmetric patterns, the step length and the position of its start were designed to ensure a polygon or line of support for the center mass of the body [ 48 , 49 ].…”

Section: Materials and Methodsmentioning

confidence: 99%

“…The parameterized curve at u has a duty factor β u between the points P 2 to P 4 of 0.6. The parameterization of the variable u with respect to time t of a period T p = 1/ f p and with a desired duty factor β t obtained by Equation (20): The chosen gait patterns for reproduction were static walking and trot, akin to those presented in [48][49][50]. For symmetric patterns, the step length and the position of its start were designed to ensure a polygon or line of support for the center mass of the body [48,49].…”

Section: Step and Gait Pattern Using Bézier Curvesmentioning

confidence: 99%

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Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves

Pedro,

Bermudez,

Medeiros

et al. 2024

Sensors

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In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, meticulous planning of its foot placements and precise leg control are crucial. Traditional motion planning and control methods for quadruped robots often rely on complex models of both the robot itself and its surrounding environment. Establishing these models can be challenging due to their nonlinear nature, often entailing significant computational resources. However, a more simplified approach exists that focuses on the kinematic model of the robot’s floating base for motion planning. This streamlined method is easier to implement but also adaptable to simpler hardware configurations. Moreover, integrating impedance control into the leg movements proves advantageous, particularly when traversing uneven terrain. This article presents a novel approach in which a quadruped robot employs impedance control for each leg. It utilizes sixth-degree Bézier curves to generate reference trajectories derived from leg velocities within a planar kinematic model for body control. This scheme effectively guides the robot along predefined paths. The proposed control strategy is implemented using the Robot Operating System (ROS) and is validated through simulations and physical experiments on the Go1 robot. The results of these tests demonstrate the effectiveness of the control strategy, enabling the robot to track reference trajectories while showing stable walking and trotting gaits.

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Section: Materials and Methodsmentioning

confidence: 99%

Section: Step and Gait Pattern Using Bézier Curvesmentioning

confidence: 99%

Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves

Pedro,

Bermudez,

Medeiros

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…In order to simplify the calculation, this article uses the octahedron as the reachable area of the foot. The intersection of an octahedron and a plane or slope with a known inclination produces an effective foot reachable area [27,28]. The boundaries of this area are x min , x max , y min , y max , z min , and z max .…”

Section: Planning Of Follower Legmentioning

confidence: 99%

Research on the Stationarity of Hexapod Robot Posture Adjustment

Zhang

Wang

Gao

et al. 2020

Sensors

Self Cite

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This paper proposes a smooth adjustment method for the instability problem that occurs during the start and stop of a multi-footed robot during attitude change. First, kinematics analysis is used to establish the mapping relationship between the joint angles of the robot support legs and the body posture. The leg joint angle is a known quantity that can be measured accurately and in real time. Therefore, when the position of the foot end of the support leg is unchanged, a unique set of joint angles can be obtained with the change of body posture at a certain moment. Based on the designed mapping model, the smooth adjustment of the posture can be achieved by the smooth adjustment of the support legs. Second, a constraint index that satisfies the requirements of the robot’s steady adjustment of the robot is given. The S-curve acceleration/deceleration method is used to plan the body’s attitude angle transformation curve, and then the mapping control relationship is used to obtain the control trajectory requirements of the joint to achieve smooth adjustment. In addition, this paper also gives a simple choice and motion control method for the redundancy problem caused by the number of support legs of a multi-footed robot when the attitude is changed. The simulation and prototype experiments verify and analyze the proposed method. The results of comparative experiments show that the posture adjustment method proposed in this paper has continuous acceleration without breakpoints, the speed changes gently during the start and stop phases of the attitude transformation, and there is no sudden change in the entire process, which improves the consistency of the actual values of the attitude planning curve with the target values. The physical prototype experiment shows that the maximum deviation between the actual value of the attitude angular velocity and the target value changes from 62.5% to 5.5%, and the degree of fit increases by 57.0%. Therefore, this study solves the problem of the instability of the fuselage when the robot changes its attitude, and it provides an important reference for the multi-footed robot to improve the terrain adaptability.

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“…Zhang and associates derived optimal body postures capable of achieving the maximum possible moving speed with respect to the slope and the moving direction (Zhang et al 2005). Furthermore, the height of the center of gravity (COG) and the three rotational axes were discussed with the aim of determining an optimal body posture that would allow a robot to walk fast in any direction by changing the height of its COG and altering its body posture during gait transitions (Zhang et al 2006). Some robots have been developed that are specifically designed to work on slopes.…”

Section: Introductionmentioning

confidence: 99%

Optimal Limb Length Ratio of Quadruped Robot Minimising Joint Torque on Slopes

Aoyama

Sekiyama

Hasegawa

et al. 2009

Applied Bionics and Biomechanics

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This paper aims to determine an optimal structure for a quadruped robot, which will allow the robot's joint torque sum to be minimised. An animal's characteristic limb length ratio is a vital part of its overall morphology and the one that enables it to travel easily through its environment. For the same reason, a robot's structure needs to be suitably designed for locomotion in its working environment. Joint torques are necessary to maintain the posture of the robot and to accelerate joint angles during walking motion, hence, minimisation of joint torques reduces energy consumption. We performed a numerical simulation in which we analysed the joint torques for various limb lengths and slope angles in order to determine the optimal structure of a robot walking on a slope. Our investigation determines that the optimal Ratio of Rear Leg Length (RRL) can be derived by the use of a simulation designed to determine the physical structure of quadruped robot. Our analysis suggests that joint torque will increase as the slope angle becomes steeper if the rear legs of the robot are shorter than its forelegs, and that joint torque will decrease as the slope angle declines if the robot's forelegs are shorter than its rear legs. Finally, experimental results validated our simulation analysis.

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Several Insights into Omnidirectional Static Walking of a Quadruped Robot on a slope

Cited by 10 publications

References 13 publications

Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves

Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves

Research on the Stationarity of Hexapod Robot Posture Adjustment

Optimal Limb Length Ratio of Quadruped Robot Minimising Joint Torque on Slopes

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