Step rolling planning of a six-legged robot with 1-DOF waist for slope climbing

Tian, Yuan; Gao, Feng; Liu, Jimu; Chen, Xianbao

doi:10.1007/s11431-017-9216-x

Cited by 8 publications

(3 citation statements)

References 20 publications

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“…Recent advances in the interdisciplinary fields of planetary exploration [1][2][3][4][5], reconfigurable mechanism [6][7][8][9][10], and autonomous robot [11][12][13][14][15] indicate that the multifunctional and robotic detection probe will become one of the development trends. To survive in the unknown even hostile extraterrestrial environment, the complex task requirements are rendered with the hopes of merging functions of adjusting and landing, and roving and operating into a versatile counterpart-the reconfigurable legged mobile lander (ReLML).…”

Section: Introductionmentioning

confidence: 99%

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Han

Zhou

Guo

2021

Journal of Mechanisms and Robotics

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This paper presents the reconfigurable legged mobile lander (ReLML) with its modes from adjusting, landing, to roving. Based on the invented metamorphic variable-axis revolute hinge, the actuated link has three alternative phases of rotating around either of two orthogonal topological axes or locking itself to the base as a rigid body. This property enables the ReLML to switch among three modes and within two driving states (as the adjusting and roving modes are active mechanisms driven by motors, while the landing truss is regarded as a passive mechanism driven by the touchdown impact force exerted on footpad). The unified differential kinematics for the ReLML is established by the screw-based Jacobian modeling, unifying both active and passive operation phases throughout all modes. Afterward, the distributions of workspaces and singularity loci in three modes are discussed for the multi-solution sake, and the selection principle of the practicable solution pattern is proposed to obtain the actual workspace, singularity loci, and configurations. The results stemming from the Jacobian-matrix-based method and the Grassmann-geometry-based method give mutual authentication and match well. Finally, as prospects for promising applications, four bifurcated evolution routes and configuration transitions are figured out and compared.

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Section: Introductionmentioning

confidence: 99%

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Han

Zhou

Guo

2021

Journal of Mechanisms and Robotics

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“…Chen et al [20,21] proposed a time-optimal trajectory planning method for a hexapod robot under actuator constraints. Tian et al [22][23][24] decomposed motion planning on irregular terrain into foothold selection and whole body configuration planner.…”

Section: Introductionmentioning

confidence: 99%

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

et al. 2021

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Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

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“…Alexander Shkolnik et al [8] proposed a motion planning algorithm for bounding over rough terrain developed by Rapidly Exploring Random Trees (RRTs). Yuan Tian and Feng Gao [9][10][11] decomposed the motion planning on irregular terrain into two main steps: the foothold selection and whole body configuration planner. Marco Hutter et al [12][13][14] split the locomotion control of ANYmal into five key components: state estimation, localization and mapping, navigation, foothold and motion planning, as well as whole body control.…”

Section: Introductionmentioning

confidence: 99%

Adaptive gait parameters adjustment strategy for a hexapod robot walking on stairs based on 3D terrain perception

2020

Robots in Human Life

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Legged robots have advanced potential to accomplish detecting, carrying, operating and rescuing tasks instead of human beings in complex environments. In real applications, walking over and climbing the obstacles is a more urgent issue to be solved for legged robots comparing with bypassing obstacles. However, few papers involve approaches of climbing obstacles for legged robots. A perception-based gait parameters adjustment method for a hexapod robot walking on stairs is presented in this paper. To fulfil requirements of walking stability and kinematic feasibility, this method takes advantage of the superior mobility of the six-legged robot and adapts the gait parameters autonomously based on the terrain perception. First, a robot state estimation method is proposed, which figures out position and posture of the robot. Then, a perceptionbased robot-stairs interference model is proposed, which describes the relationship between the robot and stairs. After that, a method to calculate appropriate gait parameters to climb stairs is developed. Finally, the scheme is integrated on the hexapod robot Qingzhui and tested by real experiments.

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Step rolling planning of a six-legged robot with 1-DOF waist for slope climbing

Cited by 8 publications

References 20 publications

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Adaptive gait parameters adjustment strategy for a hexapod robot walking on stairs based on 3D terrain perception

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