Tuning and sensitivity analysis of a hexapod state estimator

Khalili, Hassan Hakim; Cheah, Wei; Garcia-Nathan, Tomas B.; Carrasco, Joaquín; Watson, Simon; Lennox, Barry

doi:10.1016/j.robot.2020.103509

Cited by 2 publications

(3 citation statements)

References 24 publications

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“…Most of the designed dynamic-based controllers mainly contained the definition of the interactions of the feet and used kinematic models for the rest of the control. One emergent solution for this problem was the implementation of predictive models to estimate the stability of the hexapod [9], its posture [27] or the safety of the ground through the value of the contact forces [29].…”

Section: Discussionmentioning

confidence: 99%

“…Ref. [27] also used a Kalman filter to estimate the pose of the hexapod when walking across surfaces perpendicular to the ground. This algorithm estimated and corrected the body posture through the data provided by an IMU, the contact forces and the position of each joint and obtained better results than the respective dynamic model of the robot, even when foot slippage occurred.…”

Section: Kinematic-based Controlmentioning

confidence: 99%

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Trends in the Control of Hexapod Robots: A Survey

et al. 2021

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The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For this application, the control system must adapt the actuation of the limbs according to their surroundings to ensure that the hexapod does not tumble during locomotion. The most traditional approach considers their limbs as robotic manipulators and relies on mechanical models to actuate them. However, the increasing interest in model-free models for the control of these systems has led to the design of novel solutions. Through a systematic literature review, this paper intends to overview the trends in this field of research and determine in which stage the design of autonomous and adaptable controllers for hexapods is.

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Section: Discussionmentioning

confidence: 99%

Section: Kinematic-based Controlmentioning

confidence: 99%

Trends in the Control of Hexapod Robots: A Survey

et al. 2021

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“…From the tripod gait to the pentagonal gait, although the robot slows down, the attitude fluctuation and yaw also basically decrease, which means the stability of the robot's motion is better. Since the quadrangular gait and the pentagonal gait require more steps, it may make the robot foot slip phenomenon more obvious to a certain extent, and increase the robot's walking distance error [36]. Combing the actual needs, users can set suitable gait types and parameters on the mobile device.…”

Section: Comparison and Transformation Of Different Types Of Gaitmentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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Gait is an important research content of hexapod robots. To better improve the motion performance of hexapod robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies the straight gait of a small electric hexapod robot with a low cost, which can be used in daily life. The strategy of “increasing duty factor” is put forward in the gait planning, which aims to reduce foot sliding and attitude fluctuation in robot motion. The straight gaits of the robot include tripod gait, quadrangular gait, and pentagonal gait, which can be described conveniently by discretization and a time sequence diagram. In order to facilitate the user to control the robot to achieve all kinds of motion, an online gait transformation algorithm based on the adjustment of foot positions is proposed. In addition, according to the feedback of the actual attitude information, a yaw angle correction algorithm based on kinematics analysis and PD controller is designed to reduce the motion error of the robot. The experiments show that the designed gait planning scheme and control algorithm are effective, and the robot can achieve the expected motion. The RMSE of the row, pitch, and yaw angle was reduced by 35%, 25%, and 12%, respectively, using the “increasing duty factor” strategy, and the yaw angle was limited in the range −3°~3° using the yaw angle correction algorithm. Finally, the comparison with related works and the limitations are discussed.

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Tuning and sensitivity analysis of a hexapod state estimator

Cited by 2 publications

References 24 publications

Trends in the Control of Hexapod Robots: A Survey

Trends in the Control of Hexapod Robots: A Survey

Straight Gait Research of a Small Electric Hexapod Robot

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