Type Design and Behavior Control for Six Legged Robots

Fang, Ling; Gao, Feng

doi:10.1186/s10033-018-0259-9

Cited by 19 publications

(8 citation statements)

References 60 publications

(73 reference statements)

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“…Nevertheless, the jumping location of the hopping robot is difficult to control and predict. Third, legged robots are considered as an alternative of asteroid exploration robots benefit from they can locomote on extreme terrains, and have better positioning capabilities for body position and posture [11]. JPL has presented a climbing robot which can crawl on the ceiling of a cave on Mars, or carry out exploration missions on asteroids [12].…”

Section: Introductionmentioning

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WITHDRAWN: Dimensional Optimization of Multi-legged Climbing Robot for Asteriod Exploration Based on Performance Atlas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

confidence: 99%

WITHDRAWN: Dimensional Optimization of Multi-legged Climbing Robot for Asteriod Exploration Based on Performance Atlas

Wen

Gao

2020

Preprint

Self Cite

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“…However, due to the small escape velocity of asteroids, the jumping height and distance of the opping systems are difficult to control. Third, the legged robots with grippers installed at the end of the leg has attracted much attention [12]. Although the moving speed of the legged robot is not as fast as the hopping system, its better body positioning ability and flexible legs enable it to walk on rugged terrain.…”

Section: Introductionmentioning

confidence: 99%

Kinematic design of a novel Multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration

Wen

Gao

2022

Robotica

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Multi-legged robots with rigid-flexible coupling grippers have appealing applications to asteroid exploration with the microgravity. However, these robots usually have significantly complicated structures, which leads to a great challenge for the kinematic design.This paper proposes the kinematic design method for a novel multi-legged robot with the microspine gripper. First, the structure of the multi-legged asteroid exploration robot and the microspine gripper are demonstrated. Second, four performance evaluation indices, which are used to evaluate the stiffness, velocity, motion / force transfer efficiency and gripper attachment efficiency of the robot, are derived from the kinematic model. Non-dimensional design spaces of parameters to be optimized are drawn, and performance atlases are presented in design spaces. Third, the stiffness model of the microspine is derived. In addition, the constraint condition of the restoring spring is established, and the stiffness of restoring springs are optimized using the genetic algorithm. Several experiments are conducted to verify the stiffness model of the microspine. Finally, the prototype is developed and the experimental results validates the kinematic design method.

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“…With the introduction of the concept of Industry 4.0, robots have become more and more essential in intelligent manufacturing [1]. Despite the wide application of robots in the industry [2][3][4][5], medical sector [6][7][8][9][10], aerospace field [11,12], and other fields, consumers' needs are becoming increasingly dynamic and complex [13]. This challenge can be resolved with better motion flexibility, stiffness and load capacity of robots.…”

Section: Introductionmentioning

confidence: 99%

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

Zhao

Song

Zhang

et al. 2020

Chin. J. Mech. Eng.

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As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles, the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexterity demands. The hyper-redundant bionic robots can complete complex tasks in the unstructured environments by simulating the motion characteristics of the elephant’s trunk and octopus tentacles. Compared with traditional robots, the hyper-redundant bionic robots can accomplish complex tasks because of their flexible structure. A hyper-redundant elephant’s trunk robot (HRETR) with an open structure is developed in this paper. The content includes mechanical structure design, kinematic analysis, virtual prototype simulation, control system design, and prototype building. This design is inspired by the flexible motion of an elephant’s trunk, which is expansible and is composed of six unit modules, namely, 3UPS-PS parallel in series. First, the mechanical design of the HRETR is completed according to the motion characteristics of an elephant’s trunk and based on the principle of mechanical bionic design. After that, the backbone mode method is used to establish the kinematic model of the robot. The simulation software SolidWorks and ADAMS are combined to analyze the kinematic characteristics when the trajectory of the end moving platform of the robot is assigned. With the help of ANSYS, the static stiffness of each component and the whole robot is analyzed. On this basis, the materials of the weak parts of the mechanical structure and the hardware are selected reasonably. Next, the extensible structures of software and hardware control system are constructed according to the modular and hierarchical design criteria. Finally, the prototype is built and its performance is tested. The proposed research provides a method for the design and development for the hyper-redundant bionic robot.

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Type Design and Behavior Control for Six Legged Robots

Cited by 19 publications

References 60 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

Kinematic design of a novel Multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

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