Task oriented kinematic analysis for a legged robot with half-circular leg morphology

Sayginer, Ege; Akbey, Tulay; Yazıcıoğlu, Yiğit; Saranlı, Afşar

doi:10.1109/robot.2009.5152461

Cited by 14 publications

(24 citation statements)

References 9 publications

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“…So the angle detection is not precise near to 90°. The angle of α is 72.31° when Ay is 952.69mg at 90° in expression (6). The error of α test is 17.69°.…”

Section: Tilt Sensing With Accelerometermentioning

confidence: 93%

“…Ax and Ay can be detected by the three-axis accelerometer. So β and α can be calculated from expressions (6) and (7).…”

Section: Tilt Sensing With Accelerometermentioning

confidence: 99%

“…Many bio-inspired robots are designed. For example, the bipedal robot in [4] based on studying human locomotion, the quadruped walking robot Little Dog in [5] based on studying four-legged animals, and the hexapod robot RHex in [6] based on studying six-legged insects.…”

Section: Introductionmentioning

confidence: 99%

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Design and Implementation of a Remote Control System for a Bio-Inspired Jumping Robot

Zhang

Qiao

Song

et al. 2012

International Journal of Advanced Robotic Systems

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This paper presents the design and implementation of a remote control system for a bioinspired jumping robot. The system is composed of a server, a gateway, and a jumping robot. The proposed remote control system is used to monitor the posture of the jumping robot and control it in remote places. A three-axis accelerometer is used to detect the tilts of the robot. A compass is used to sense the azimuth of the robot. The calibrations of the accelerometer and the compass are conducted. The sensor data of the robot can be sent to the server through a ZigBee wireless sensor network (WSN). An algorithm is designed to calculate the posture of the robot from the sensor data. The posture of the robot can be displayed on the human-computer interface of the server using the virtual reality technology of OpenGL. The robots can be controlled by the operator through the interface. Two experiments have been done to verify the posture detection method and test the performance of the system.

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“…So the angle detection is not precise near to 90°. The angle of α is 72.31° when Ay is 952.69mg at 90° in expression (6). The error of α test is 17.69°.…”

Section: Tilt Sensing With Accelerometermentioning

confidence: 93%

“…Ax and Ay can be detected by the three-axis accelerometer. So β and α can be calculated from expressions (6) and (7).…”

Section: Tilt Sensing With Accelerometermentioning

confidence: 99%

See 1 more Smart Citation

Design and Implementation of a Remote Control System for a Bio-Inspired Jumping Robot

Zhang

Qiao

Song

et al. 2012

International Journal of Advanced Robotic Systems

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show abstract

“…and is implemented by running the depth sensor at each bearing angle within the field of view and pitch angle achieved via a coordinated motion of the legs-a pitch wiggle self-manipulation. 1,33,34 The pitch wiggle is a sensorimotor routine utilizing the planar LIDAR to generate a depth image. For a horizontally placed LIDAR unit, even for several scans combined, there is no perceived differences between a stairwell and a wall.…”

Section: Pitch Scan Sensormentioning

confidence: 99%

Autonomous Stairwell Ascent

Ilhan¹,

Johnson²,

Koditschek³

2019

Robotica

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SummaryThis paper documents autonomous multi-floor stairwell ascent by a legged robot. This is made possible through empirically deployed sequential composition of several reactive controllers, with perceptually triggered transitions. This composition relies on simplified assumptions regarding the robot’s sensory capabilities, its level of mobility, and the environment it operates in. The discrepancies between these assumptions and the physical reality are capably handled by the intrinsic motor competence of the robot. This behavior is implemented on the legged RHex platform and experiments spanning 10 different stairwells with various challenges are conducted.

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“…Researchers are beginning to study creatures and their locomotion manners to design robots with more efficient locomotion capabilities. For example, the bipedal robot in [9] based on studying human locomotion, the quadruped walking robot Little Dog in [10] based on studying fourlegged animals, and the hexapod robot RHex in [11] based on studying six-legged insects. In [12], a flying robot is used to deploy and repair a sensor network.…”

Section: Introductionmentioning

confidence: 99%

A Wireless Sensor Network System with a Jumping Node for Unfriendly Environments

Zhang

Song

Qiao

et al. 2012

International Journal of Distributed Sensor Networks

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Mobile robots have been adopted to repair failed wireless sensor network systems for node damage, battery exhaustion, or obstacles. But most of the robots use wheeled locomotion manner, which does not work well or even fails when confronted with obstacles in uneven terrains. To solve this problem, this paper presents the design of a jumping robot to serve as a robotic node for wireless sensor networks. The robot can jump up to or over obstacles to repair the broken network connections. The robot senses its posture angle by using an acceleration sensor and self-rights automatically by using a pole leg after falling down on the ground. The robot also can steer and adjust its take-off angle by the pole leg. A network monitoring system with the proposed robot is built to test its basic locomotion capabilities and the network repair function. Experimental results show that the robot can jump about 90 cm in height and traverse 50 cm far at a take-off angle of 75 degrees. The robot can repair the network by jumping up to a 10 cm high platform. The proposed system with a jumping node can provide powerful support for applications in unfriendly environments.

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Task oriented kinematic analysis for a legged robot with half-circular leg morphology

Cited by 14 publications

References 9 publications

Design and Implementation of a Remote Control System for a Bio-Inspired Jumping Robot

Design and Implementation of a Remote Control System for a Bio-Inspired Jumping Robot

Autonomous Stairwell Ascent

A Wireless Sensor Network System with a Jumping Node for Unfriendly Environments

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