A new concept of contact joint to model the geometric foot-environment contacts for efficiently determining possible stances for legged robots

2021 ◽  
Vol 162 ◽  
pp. 104327
Author(s):  
Yuan Hu ◽  
Weizhong Guo
Keyword(s):  
Legged Robots ◽  
Contact Joint

scholarly journals Automatic Gait Pattern Selection for Legged Robots

2020 ◽  
Author(s):  
Jiayi Wang ◽  
Iordanis Chatzinikolaidis ◽  
Carlos Mastalli ◽  
Wouter Wolfslag ◽  
Guiyang Xin ◽  
...  
Keyword(s):  
Gait Pattern ◽  
Legged Robots ◽  
Pattern Selection ◽  
Selection For

scholarly journals Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots

2006 ◽  
Vol 25 (9) ◽  
pp. 931-950 ◽  
Author(s):  
Hector Montes ◽  
Samir Nabulsi ◽  
Manuel A. Armada
Keyword(s):  
High Accuracy ◽  
Legged Robots ◽  
Force Sensing

scholarly journals Diversity-based design assist for large legged robots

2020 ◽  
Author(s):  
Gerard Howard ◽  
Thomas Lowe ◽  
Wade Geles
Keyword(s):  
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.

scholarly journals Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

2021 ◽  
Author(s):  
Yue Zhao ◽  
Feng Gao ◽  
Qiao Sun ◽  
Yunpeng Yin
Keyword(s):  
Legged Robots ◽  
Measurement Unit ◽  
Support Vector ◽  
Hexapod Robot ◽  
Terrain Classification ◽  
Adaptive Locomotion ◽  
Joint Torques ◽  
Active Compliance ◽  
Outdoor Environments ◽  
The Stability

AbstractLegged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

scholarly journals Coverage path planning for legged robots in unknown environments

2016 ◽  
Author(s):  
Dan Jia ◽  
Martin Wermelinger ◽  
Remo Diethelm ◽  
Philipp Krusi ◽  
Marco Hutter
Keyword(s):  
Path Planning ◽  
Legged Robots ◽  
Coverage Path Planning ◽  
Unknown Environments

An experimental study on feature-based SLAM for multi-legged robots with RGB-D sensors

2017 ◽  
Vol 44 (4) ◽  
pp. 428-441 ◽  
Author(s):  
Michał R. Nowicki ◽  
Dominik Belter ◽  
Aleksander Kostusiak ◽  
Petr Cížek ◽  
Jan Faigl ◽  
...  
Keyword(s):  
Performance Metrics ◽  
State Of The Art ◽  
Building Blocks ◽  
Bundle Adjustment ◽  
The State ◽  
Legged Robots ◽  
Evaluation Methodology ◽  
Walking Robots ◽  
Content Type ◽  
Feature Based

Purpose This paper aims to evaluate four different simultaneous localization and mapping (SLAM) systems in the context of localization of multi-legged walking robots equipped with compact RGB-D sensors. This paper identifies problems related to in-motion data acquisition in a legged robot and evaluates the particular building blocks and concepts applied in contemporary SLAM systems against these problems. The SLAM systems are evaluated on two independent experimental set-ups, applying a well-established methodology and performance metrics. Design/methodology/approach Four feature-based SLAM architectures are evaluated with respect to their suitability for localization of multi-legged walking robots. The evaluation methodology is based on the computation of the absolute trajectory error (ATE) and relative pose error (RPE), which are performance metrics well-established in the robotics community. Four sequences of RGB-D frames acquired in two independent experiments using two different six-legged walking robots are used in the evaluation process. Findings The experiments revealed that the predominant problem characteristics of the legged robots as platforms for SLAM are the abrupt and unpredictable sensor motions, as well as oscillations and vibrations, which corrupt the images captured in-motion. The tested adaptive gait allowed the evaluated SLAM systems to reconstruct proper trajectories. The bundle adjustment-based SLAM systems produced best results, thanks to the use of a map, which enables to establish a large number of constraints for the estimated trajectory. Research limitations/implications The evaluation was performed using indoor mockups of terrain. Experiments in more natural and challenging environments are envisioned as part of future research. Practical implications The lack of accurate self-localization methods is considered as one of the most important limitations of walking robots. Thus, the evaluation of the state-of-the-art SLAM methods on legged platforms may be useful for all researchers working on walking robots’ autonomy and their use in various applications, such as search, security, agriculture and mining. Originality/value The main contribution lies in the integration of the state-of-the-art SLAM methods on walking robots and their thorough experimental evaluation using a well-established methodology. Moreover, a SLAM system designed especially for RGB-D sensors and real-world applications is presented in details.

scholarly journals IMPROVING POWER TO WEIGHT RATIO OF PNEUMATICALLY POWERED LEGGED ROBOTS

2007 ◽  
Author(s):  
G. MCLATCHEY ◽  
J. BILLINGSLEY
Keyword(s):  
Weight Ratio ◽  
Legged Robots

scholarly journals DYNAMIC SIMULATION OF LEGGED ROBOTS USING A PHYSICS ENGINE

2014 ◽  
Author(s):  
D. BELTER ◽  
P. SKRZYPCZYŃSKI ◽  
K. WALAS ◽  
P. FANKHAUSER ◽  
C. GEHRING ◽  
...  
Keyword(s):  
Dynamic Simulation ◽  
Legged Robots ◽  
Physics Engine

scholarly journals Distributed perception for a group of legged robots

2007 ◽  
Author(s):  
Carlos E. Aguero ◽  
Antonio L. Gonzalez ◽  
Francisco Martin ◽  
Vicente Matellan
Keyword(s):  
Legged Robots
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