Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Zhu, Hongwu; Wang, Dong; Boyd, Nathan; Zhou, Ziyi; Ruan, Lecheng; Zhang, Aidong; Ding, Ning; Zhao, Ye; Luo, Jianwen

doi:10.3389/frobt.2021.724138

Cited by 6 publications

(2 citation statements)

References 31 publications

(41 reference statements)

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“…This is a pioneering study to develop a wearable parrot-inspired robot and use pictures taken by the parrot robot for terrain perception and classification. While the terrain perception approach has been extensively studied in mobile robots [ 36 , 37 ] and bio-inspired robots [ 38 ], we aim to develop a terrain perception and classification system for the novel wearable parrot-inspired robot to warn the wearers of sudden terrain changes. In our future studies, we will implement the terrain perception and classification system in real time to warn the user of sudden terrain changes using voice commands.…”

Section: Discussionmentioning

confidence: 99%

Terrain Perception Using Wearable Parrot-Inspired Companion Robot, KiliRo

et al. 2022

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Research indicates that deaths due to fall incidents are the second leading cause of unintentional injury deaths in the world. Death by fall due to a person texting or talking on mobile phones while walking, impaired vision, unexpected terrain changes, low balance, weakness, and chronic conditions has increased drastically over the past few decades. Particularly, unexpected terrain changes would many times lead to severe injuries and sometimes death even in healthy individuals. To tackle this problem, a warning system to alert the person of the imminent danger of a fall can be developed. This paper describes a solution for such a warning system used in our bio-inspired wearable pet robot, KiliRo. It is a terrain perception system used to classify the terrain based on visual features obtained from processing the images captured by a camera and notify the wearer of terrain changes while walking. The parrot-inspired KiliRo robot can twist its head and the camera up to 180 degrees to obtain visual feedback for classification. Feature extraction is followed by K-nearest neighbor for terrain classification. Experiments were conducted to establish the efficacy and validity of the proposed approach in classifying terrain changes. The results indicate an accuracy of over 95% across five terrain types, namely pedestrian pathway, road, grass, interior, and staircase.

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Section: Discussionmentioning

confidence: 99%

Terrain Perception Using Wearable Parrot-Inspired Companion Robot, KiliRo

et al. 2022

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“…A 3D-SLIP model was developed for high-speed turning by a humanoid robot while running at 4.0 m s −1 in a simulation, but no empirical experiment was conducted [26]. Precise turning gait generation methods have been proposed for quadruped robots based on geometrical constraints [27,28]. Using optimization-based predictive control and a data-driven heuristic, MIT's cheetah can perform a rapid turn at 2 rad sec −1 while moving at a speed of 1.5 m sec −1 [29].…”

Section: Introductionmentioning

confidence: 99%

Dynamic turning and running of a hexapod robot using a separated and laterally arranged two-leg model

Chang¹,

Lin²

2023

Bioinspir. Biomim.

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We report on the development of separated and laterally arranged two-leg (SLTL) models with/without differentiated leg properties and their use as the dynamic running and turning templates for a hexapod robot. The laterally arranged two-leg morphology enables differential driving for turning. The differentiable leg settings, such as stiffness, enables the model to adopt unbalanced leg arrangements of empirical legged gaits, such as a tripod gait, into consideration. The fixed-point motion of the model was utilized as the main methodology to plan dynamic running and turning, in which the plot of one-step distance versus period was constructed for the legs’ operation point selection and matching. The proposed methodology was experimentally validated using four indices: turning curvature, flight phase, motion stability, and energy efficiency. The experimental results show that the running robot using the SLTL model with differentiated leg stiffness has better energy efficiency than one without by 4%, while the latter model has identical performance to the original spring-loaded inverted pendulum model with rolling contact. As for turning, the robot using the SLTL models with/without differentiated leg stiffness can preserve dynamic turning in all experiments with turning curvatures up to 0.28m^(-1) and 0.30m^(-1), respectively, 33% and 43% more than the robot using the original model-less phase-shift turning strategy (0.21 m^(-1)). Using the proposed model-based strategy, the flight phase of the robot turning in all curvatures (including straight running) maintains around 20%, the root-mean-squared (RMS) values of pitch and roll remains less than 3 deg, and the specific resistance (SR) is bounded between 0.64 and 0.73. By contrast, the robot using the phase-shifting turning strategy can maintain dynamic motion up to a turning curvature of 0.21 m^(-1). A further increase in phase shifting not only does not increase the turning curvature but also changes the robot motion from running to walking. In this case, no flight phase exists, the SR jumps up significantly, and RMS values of pitch and roll also increase dramatically. In short, the experimental validation confirms the effectiveness of the proposed methodology for initiating the dynamic running and turning of the robot.

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