Versatile - High Power Gripper for a Six Legged Walking Robot

Heppner, G.; Buettner, Timothee; Roennau, Arne; Dillmann, Rüdiger

doi:10.1142/9789814623353_0054

Cited by 13 publications

(7 citation statements)

References 6 publications

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“…Bioinspired controllers have demonstrated stable walking through the translation of biological concepts such as central pattern generators [41], genetic algorithms [42], artificial neural networks [43], and spiking neural networks [44,45]. Forward walking has been demonstrated to be predictable enough for planning [46], simultaneous localization and mapping [47], and walking in confined spaces [48].…”

Section: Introductionmentioning

confidence: 99%

Sideways crab-walking is faster and more efficient than forward walking for a hexapod robot

et al. 2022

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Articulated legs enable the selection of robot gaits, including walking in different directions such as forward or sideways. For longer distances, the best gaits might maximize velocity or minimize the cost of transport (COT). Interestingly, while animals often adapt their morphology for walking either forward (like insects) or sideways (like crabs), robots that can walk forward or sideways often pick a direction by convention. In this paper, we compare walking in forward and sideways directions. To do this, a simple gait design method is introduced for determining forward and sideways gaits with equivalent body heights and step heights. Specifically, the frequency and stride lengths are tuned within reasonable constraints to find gaits that represent a robot’s performance potential in terms of speed and energy cost. Experiments are performed in both dynamic simulation in Webots and a laboratory environment with our 18 degree-of-freedom (DOF) hexapod robot, Sebastian. With the common three joint leg design, the results show that sideways walking is overall better (75% larger walking speed and 40% lower COT). The performance of sideways walking was better on both hard floors and granular media (dry play sand). This supports the development of future crab-like walking robots for future applications. In future work, this approach may be used to develop nominal gaits without extensive optimization, and to explore whether the advantages of sideways walking persist for other hexapod designs.

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Section: Introductionmentioning

confidence: 99%

Sideways crab-walking is faster and more efficient than forward walking for a hexapod robot

et al. 2022

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“…[13] uses this centaur-like humanoid robot to push heavy objects with the help of its environment. Other approaches considered cases where robots use their legs to perform manipulation tasks, either with an additionally attached gripper [14], or by using their feet [15], [16]. As common for a legged robots [17], we model Spova as an arm on a free-floating base.…”

Section: Related Workmentioning

confidence: 99%

Go Fetch! - Dynamic Grasps using Boston Dynamics Spot with External Robotic Arm

Zimmermann

Poranne

Coros

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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We combine Boston Dynamics Spot R with a lightweight, external robot arm to perform dynamic grasping maneuvers. While Spot is a reliable, robust and easy-to-control mobile robot, these highly desirable qualities come with the price that the control access granted to the user is restricted. Consequently Spot's behavior must largely be treated as a black box, which causes difficulties when combined with a moving payload such as a robotic arm. We overcome the arising challenges by building a model of the combined platform, fitting the corresponding model parameters using experimental data and a straight-forward optimization framework. We use this model to generate control commands for the physical platform using trajectory optimization. We demonstrate that even with a simple model, and control trajectories deployed in a feedforward manner, the combined platform is capable of executing grasping tasks in a dynamic fashion. Furthermore, we show how the platform can use the additional degrees of freedom of the legs to extend the reachability of the arm.

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“…In such tasks, manipulation ability becomes very important. Although it is still possible to use gripper-like feet [5] to complete possible manipulation tasks during such missions, using an independent manipulator achieves better stability [6], [7]. There are several challenges in a legged mobile manipulation system.…”

Section: Introductionmentioning

confidence: 99%

A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control

Yao¹,

Wan²,

Yang³

et al. 2022

Preprint

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Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot in diverse manipulation tasks. Several prior works have investigated legged mobile manipulation from the viewpoint of control theory. However, modeling a unified structure for various robotic arms and quadruped robots is a challenging task. In this paper, we propose a unified framework disturbance predictive control where a reinforcement learning scheme with a latent dynamic adapter is embedded into our proposed low-level controller. Our method can adapt well to various types of robotic arms with a few random motion samples and the experimental results demonstrate the effectiveness of our method.

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Versatile - High Power Gripper for a Six Legged Walking Robot

Cited by 13 publications

References 6 publications

Sideways crab-walking is faster and more efficient than forward walking for a hexapod robot

Sideways crab-walking is faster and more efficient than forward walking for a hexapod robot

Go Fetch! - Dynamic Grasps using Boston Dynamics Spot with External Robotic Arm

A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control

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