Soft computing-based expert systems to predict energy consumption and stability margin in turning gaits of six-legged robots

2012 ◽  
Vol 39 (5) ◽  
pp. 5460-5469 ◽  
Author(s):  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Energy Consumption ◽  
Expert Systems ◽  
Soft Computing ◽  
Stability Margin ◽  
Legged Robots

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

Soft Computing Approach in Modeling Energy Consumption

2014 ◽  
pp. 770-782 ◽  
Author(s):  
Haruna Chiroma ◽  
Sameem Abdulkareem ◽  
Eka Novita Sari ◽  
Zailani Abdullah ◽  
Sanah Abdullahi Muaz ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Soft Computing ◽  
Computing Approach

Dynamic Modeling, Stability and Energy Consumption Analysis of Turning Motion of Realistic Hexapod Walking Robots

2011 ◽  
Author(s):  
Shibendu Shekhar Roy ◽  
Dilip Kumar Pratihar
Keyword(s):  
Energy Consumption ◽  
Angular Velocity ◽  
Dynamic Modeling ◽  
Stability Margin ◽  
Duty Factor ◽  
Walking Robots ◽  
Dissipated Energy ◽  
Total Energy Consumption ◽  
Joint Torques ◽  
Turning Motion

This paper presents a detailed dynamic modeling of a realistic hexapod walking robot during its turning motion over flat terrain. An energy consumption model is derived for generating statically stable wave-turning gaits by minimizing dissipated energy for the optimal feet forces distributions. Two approaches, such as minimization of norm of feet forces and minimization of norm of joint torques have been developed using least squared method. The performances of these approaches have been compared with one other for different values of duty factor. The effects of walking parameters, namely angular velocity, angular stroke and duty factors are studied on energy consumption and stability during turning motion. In order to minimize total energy consumption, the angular velocity should be as high as possible for a particular duty factor. A stability analysis based on normalized energy stability margin is performed for the turning motion of robot with four duty factors for different angular strokes.

scholarly journals Fuzzy in the Real World

2013 ◽  
Vol 7 (1) ◽  
pp. 473-477
Author(s):  
Manpreet Singh Lehal
Keyword(s):  
Fuzzy Logic ◽  
Expert Systems ◽  
Soft Computing ◽  
Real World ◽  
Industrial Processes ◽  
Computing With Words ◽  
Mathematical Tool ◽  
Information Granularity ◽  
Important Concept

The Fuzzy Logic tool was introduced in 1965, by LotfiZadeh, and is a mathematical tool for dealing with uncertainty. It offers to a soft computing partnership the important concept of computing with words. It provides a technique to deal with imprecision and information granularity. Fuzzy Logic (FL) is a multi valued logic that allows intermediate values to be defined between conventional evaluations like true/false, yes/no, high/low, etc. Notions like rather tall or very fast can be formulated mathematically and processed by computers, in order to apply a more human like way of thinking in the programming of computers. Fuzzy Logic has emerged as a a profitable tool for the controlling and steering of systems and complex industrial processes, as well as for household and entertainment electronics, as well as for other expert systems and applications like the classification of SAR data.

Force-based stability margin for multi-legged robots

2016 ◽  
Vol 83 ◽  
pp. 138-149 ◽  
Author(s):  
Mahdi Agheli ◽  
Stephen. S. Nestinger
Keyword(s):  
Stability Margin ◽  
Legged Robots
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