Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Qin, Jian-Hua; Luo, Jie; Chuang, Kai-Chi; Lan, Tian-Syung; Zhang, Lieping; Yi, Huai-An

doi:10.1155/2020/1571439

Cited by 5 publications

(4 citation statements)

References 17 publications

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“…Generally, there are two postures of quadruped crawling robot on the slope: horizontal posture and parallel to the inclined plane. Compared with the horizontal posture, the later makes the movement range of the front and rear legs equal, and the stability margin is large (Qin et al , 2020). Therefore, the posture parallel to the inclined plane is adopted in this paper.…”

Section: Efficient Walking Strategy Frameworkmentioning

confidence: 99%

Research on obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition

Wang

Song

Renquan

et al. 2022

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Purpose Aiming at the problem that quadruped crawling robot is easy to collide and overturn when facing obstacles and bulges in the process of complex slope movement, this paper aims to propose an obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition. Design/methodology/approach First, considering the problem of low uniformity of feature points in terrain recognition images under complex slopes, which leads to too long feature point extraction time, an improved ORB (Oriented FAST and Rotated BRIEF) feature point extraction method is proposed; second, when the robot avoids obstacles or climbs over bumps, aiming at the problem that the robustness of a single step cannot satisfy the above two motions at the same time, the crawling gait is planned according to the complex slope terrain, and a robot obstacle avoidance gait planning based on the artificial potential field method is proposed. Finally, the slope walking experiment is carried out in the Robot Operating System. Findings The proposed method provides a solution for the efficient walking of robot under slope. The experimental results show that the extraction time of the improved ORB extraction algorithm is 12.61% less than the original ORB extraction algorithm. The vibration amplitude of the robot’s centroid motion curve is significantly reduced, and the contact force is reduced by 7.76%. The time it takes for the foot contact force to stabilize has been shortened by 0.25 s. This fact is verified by simulation and test. Originality/value The method proposed in this paper uses the improved feature point recognition algorithm and obstacle avoidance gait planning to realize the efficient walking of quadruped crawling robot on the slope. The walking stability of quadruped crawling robot is tested by prototype.

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Section: Efficient Walking Strategy Frameworkmentioning

confidence: 99%

Research on obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition

Wang

Song

Renquan

et al. 2022

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“…where, m 1 , m 2 , m 3 , m 4 , m 5 and m 6 represent cubic polynomial coefficients, which need to be solved. The velocity expression equation ( 24) can be obtained by deriving equation (23):…”

Section: Single Leg Trajectory Planningmentioning

confidence: 99%

“…Wang et al 22 proposed a new parallel series quadruped robot, and comprehensively analysed the leg configuration and performance of the robot. Qin et al 23 improved the leg structure of the quadruped robot and designed by using the mechanism of the lateral swing posture of the leg of the hoof animal. From the above research, it is found that the series leg has larger workspace, but lower strength and stiffness; the parallel leg has larger strength and stiffness, but the control is relatively complex.…”

Section: Introductionmentioning

confidence: 99%

Structural design and gait research of a new bionic quadruped robot

Chen

San

Xiong

2021

Proceedings of the Institution of Mechanical Engineers, Part B:

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Quadruped bionic robot has a strong adaptability to the environment, compared with wheeled and tracked robots, it has superior motion performance, and has a wide range of application prospects in rescue and disaster relief, ground mine clearance, mountain transportation, so it has become a research hotspot all over the world. Leg structure is an important embodiment of the superior performance of quadruped robot, and it is also the key and difficult point of design. This article proposes a novel quadruped robot with waist structure, which can complete a variety of gait forms. Based on the theory of linkage mechanism, a novel leg structure is designed with anti-parallelogram mechanism, which improves the strength and stiffness of the robot. Using D-H description method, the kinematics analysis of this quadruped robot single leg is carried out. On this basis, in order to ensure the foot contact with the ground and achieve zero impact, polynomial programming is used to plan the foot trajectory of swing phase and support phase. Based on the static stability margin, the optimal static gait of the quadruped robot is planned. A co-simulation study has been carried out to investigate further the validity and effectiveness of the quadruped robot on gait. The simulation results clearly show the robot can walk steadily and its input and output meet the expected requirements. The solid prototype platform is built, and the trajectory planning experiment of single leg is carried out, and the foot trajectory of single leg is obtained by using laser tracker. The gait planning algorithm is applied to the whole robot, and the results show that the robot can walk according to the scheduled gait, which proves the effectiveness of the proposed algorithm.

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“…The rules of WOA are composed by early optimization rules, later moving rules and peak extraction rules [21]. The specific rules of WOA are designed as follows:…”

Section: Rules Of Designmentioning

confidence: 99%

Parameter Tuning of Brushless DC Motor for Improving Control Effect with Worm Algorithm

Qin¹,

Wang²,

Xiao³

2021

EJEE

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Aiming at the problem of low control precision and small applicable scope caused by adjusting control parameters in Ziegler-Nichols (ZN) method, a parameter tuning method based on Worm algorithm (WOA) is proposed for Brushless DC motor. Firstly, the model of speed control is established by proportional integral method for Brushless DC motor with two - phase conduction and three - phase full bridge drive. Then the fitness function of the controller is constructed by the Integral Absolute Error (IAE). Finally, the early optimization process, the later movement rule and the peak extraction rule are determined for WOA, and the controller parameter tuning process is designed. Simulation results under constant and sinusoidal conditions show the effectiveness of the proposed method. WOA was compared with ZN, genetic algorithm (GA), differential evolution algorithm (DE) and particle swarm optimization algorithm (PSO) in the experiment. The experimental results show that the control effect (CE) of WOA under uniform speed has been improved by 2.56% on average, and has been improved by 16.93% on average under sinusoidal speed. Compared with previous methods, this method can be used for parameter adjustment of complex control with higher control precision.

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Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Cited by 5 publications

References 17 publications

Research on obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition

Research on obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition

Structural design and gait research of a new bionic quadruped robot

Parameter Tuning of Brushless DC Motor for Improving Control Effect with Worm Algorithm

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