Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

Zhuang, Hongchao; Gao, Haibo; Deng, Zongquan; Ding, Liang

doi:10.1186/s10033-018-0263-0

Cited by 14 publications

(12 citation statements)

References 24 publications

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“…Their bodies are far away from the ground and robots have good dynamic performance and obstacle surmounting capability. The third configuration is applied to insect robots and heavy-duty robots [39]. Its most significant feature is that robots can walk with a lower body posture.…”

Section: The Leg Of Asteroid Exploration Robotmentioning

confidence: 99%

WITHDRAWN: Dimensional Optimization of Multi-legged Climbing Robot for Asteriod Exploration Based on Performance Atlas

Wen

Gao

2020

Preprint

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Multi-legged climbing robots have appealing applications to extreme terrain on asteroids with the microgravity. The robot usually consists of multiple legs and grippers with hierarchical arrays of microspines. The dimensional optimization of the robot with the complicated structure is still a challenge. This paper proposes a multi-parameter grouping optimization method for the multi- legged climbing robot based on performance atlas. First, the structure of the multi-legged climbing robot is described and the kinematic model is established. Second, four performance evaluation indices of the robot, namely the global conditioning index (GCI), the global stiffness index (GSI), the global transmission index(GTI), and the global adhesion efficiency index (GAEI), are derived from the kinematic equations. Third, 11 dimensional parameters of the robot are catergorized into three groups and the detailed optimization process is poposed. Non-dimensional design spaces of three groups of parameters are established and performance atlases regarding the aforementioned evaluation indices are drawn. Finally, the optimal diemensions of the robot are obtained. Besides, the proposed multi-parameter optimization method can be further applied to other legged robots, and the global adhesion efficiency index can be used to guide the design of other grippers.

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Section: The Leg Of Asteroid Exploration Robotmentioning

confidence: 99%

WITHDRAWN: Dimensional Optimization of Multi-legged Climbing Robot for Asteriod Exploration Based on Performance Atlas

Wen

Gao

2020

Preprint

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“…In a nonholonomic system, both the virtual leader robot and the navigation robot meet the nonholonomic constraints. The mathematical model of the virtual leader robot can be described as Equation (21). Then…”

Section: Mathematical Model Of Leadermentioning

confidence: 99%

“…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]. The time-varying stability problem of planar multi-robots with nonholonomic constraints was studied [20,21]. Assuming that there were many external disturbances in the system.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2022

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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.

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“…ElSpider is an electric-drive heavy-duty hexapod robot developed by the Chinese State Key Laboratory of Robotics and Technology of the Harbin Institute of Technology (Fig. 3) [30]- [32]. The robot adopts a regular hexagonal arrangement, in which the legs are evenly distributed around the body and each leg has three degrees of rotational freedom.…”

Section: Numerical Simulation Analysismentioning

confidence: 99%

Minimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution

et al. 2020

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Legged robots have demonstrated significant achievements in recent years. Some legged robots have considerable flexibility and movement abilities. However, certain obstacles restrict the practical application of legged robots, such as their high energy consumption. The energy consumption of a legged robot is significantly higher than that of a wheel robot of the equivalent size for the same walking distance. Reducing the energy consumption of legged robots is important for their practical application and further development. This study proposes a quadratic-programming force-distribution controller, which minimizes the energy consumption of hexapod robots. The controller reduces the energy consumption by optimizing the instantaneous power of the robot at each time step. In a simulation environment, the proposed method reduced the energy consumption by up to 9.43% and 6.30% in flat terrain and sloped terrain, respectively, compared with two other methods. In hexapod robot experiment, the proposed method can reduce energy consumption by 5.72% compared with position control.

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Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

Cited by 14 publications

References 24 publications

WITHDRAWN: Dimensional Optimization of Multi-legged Climbing Robot for Asteriod Exploration Based on Performance Atlas

WITHDRAWN: Dimensional Optimization of Multi-legged Climbing Robot for Asteriod Exploration Based on Performance Atlas

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

Minimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution

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