Real-time gait planning method for six-legged robots to optimize the performances of terrain adaptability and walking speed

2022 ◽  
Vol 168 ◽  
pp. 104545
Author(s):  
Zhijun Chen ◽  
Jimu Liu ◽  
Feng Gao
Keyword(s):  
Real Time ◽  
Walking Speed ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning

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 Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Electronics ◽  
2019 ◽  
Vol 8 (9) ◽  
pp. 943 ◽  
Author(s):  
Il Bae ◽  
Jaeyoung Moon ◽  
Jeongseok Seo
Keyword(s):  
Real Time ◽  
High Performance ◽  
Autonomous Driving ◽  
Planning Method ◽  
Dynamics Simulation ◽  
Driving Experience ◽  
Optimal Velocity ◽  
Planning Approach ◽  
Velocity Planning ◽  
Time Optimal

The convergence of mechanical, electrical, and advanced ICT technologies, driven by artificial intelligence and 5G vehicle-to-everything (5G-V2X) connectivity, will help to develop high-performance autonomous driving vehicles and services that are usable and convenient for self-driving passengers. Despite widespread research on self-driving, user acceptance remains an essential part of successful market penetration; this forms the motivation behind studies on human factors associated with autonomous shuttle services. We address this by providing a comfortable driving experience while not compromising safety. We focus on the accelerations and jerks of vehicles to reduce the risk of motion sickness and to improve the driving experience for passengers. Furthermore, this study proposes a time-optimal velocity planning method for guaranteeing comfort criteria when an explicit reference path is given. The overall controller and planning method were verified using real-time, software-in-the-loop (SIL) environments for a real-time vehicle dynamics simulation; the performance was then compared with a typical planning approach. The proposed optimized planning shows a relatively better performance and enables a comfortable passenger experience in a self-driving shuttle bus according to the recommended criteria.

Optimal Configurations for Flexible Redundant Robot Manipulators

1998 ◽  
Author(s):  
Yue Shigang
Keyword(s):  
Real Time ◽  
Robot Manipulators ◽  
Computer Time ◽  
Planning Method ◽  
Initial Configuration ◽  
Redundant Manipulator ◽  
Real Time Control ◽  
Redundant Robot ◽  
Time Control ◽  
Optimal Configurations

Abstract The significant effect of initial configurations of flexible redundant robot manipulators is analyzed in the paper. It is found that the endpoint vibrations of a flexible redundant manipulator are quite different while performing the same endpoint trajectory starting from different initial configurations. Thus an optimal initial configuration with lower vibrations is found based on analysis before the manipulator starts to move. Only small and acceptable vibrations can be stimulated if the flexible redundant manipulator starts to move from the optimal configuration. Lots of computer time can be saved compared with optimal joint planning method. The method can be used in real-time control.

scholarly journals A Gait Planning Method for Biped Heel-and-toe Robot

2012 ◽  
Vol 16 ◽  
pp. 1799-1805
Author(s):  
Qiushi Zhang ◽  
Dandan Chen ◽  
Hongmei Li
Keyword(s):  
Planning Method ◽  
Gait Planning

Deviation from the direction of motion across gaits in a hexapodal robot

2020 ◽  
Vol 47 (3) ◽  
pp. 325-333
Author(s):  
Zijie Niu ◽  
Aiwen Zhan ◽  
Yongjie Cui
Keyword(s):  
Design Methodology ◽  
Planning Method ◽  
Hexapod Robot ◽  
Acceleration Sensor ◽  
Forward Motion ◽  
Gait Planning ◽  
Content Type ◽  
Cargo Handling ◽  
Subsequent Research ◽  
Experimental Errors

Purpose The purpose of this study is to test a chassis robot on rugged road cargo handling. Design/methodology/approach Attitude solution of D-H series robot gyroscope speed and acceleration sensor. Findings In identical experimental environments, hexapodal robots experience smaller deviations when using a four-footed propulsive gait from a typical three-footed gait for forward motion; for the same distance but at different speeds, the deviation basically keeps itself within the same range when the robot advances forward with four-foot propulsive gait; because the foot slide in the three-footed gait sometimes experiences frictions, the robot exhibits a large gap in directional deviations in different courses during motion; for motion using a four-footed propulsive gait, there are minor directional deviations of hexapodal robots resulting from experimental errors, which can be reduced through optimizing mechanical structures. Originality/value Planning different gaits can solve problems existing in some typical gaits. This article has put forward a gait planning method for hexapodal robots moving forward with diverse gaits as a redundant multifreedom structure. Subsequent research can combine a multiparallel-legged structure to analyze kinematics, optimize the robot’s mechanical structure and carry out in-depth research of hexapod robot gaits.

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