Flexible gait transition for six wheel-legged robot with unstructured terrains

2022 ◽  
pp. 103989
Author(s):  
Zhihua Chen ◽  
Jiehao Li ◽  
Shoukun Wang ◽  
Junzheng Wang ◽  
Liling Ma
Keyword(s):  
Legged Robot ◽  
Gait Transition

Modeling Gait Transitions Between Two Periodic Gaits for Quadrupeds and Hexapods

2003 ◽  
Author(s):  
Jian-Nan Lin ◽  
Shin-Min Song
Keyword(s):  
Legged Robot ◽  
Gait Transition ◽  
Foot Placement ◽  
The Past ◽  
Gait Study ◽  
Gait Transitions

Gait study is important to the development of a practical legged robot. While many works of gait study have been presented in the past, gait transition between two gaits has not been fully studied. In this paper, an approach to formulate gait transition between two periodic gaits and between a wave gait and a continuous follow-the-leader (FTL) gait is developed for quadrupeds and hexapods. Special foot placement conditions such as the FTL feature during the transition cycle can be included in the formulation process. This approach can be extended to formulate gait transition between other gaits.

Attitude Stabilization for Bending and Stretching Movement by Using Tiptoe of a One-legged Robot

2013 ◽  
Vol 133 (3) ◽  
pp. 663-671
Author(s):  
Hiroshi Hirata ◽  
Yorinao Mizushima ◽  
Shigeto Ouchi ◽  
Nariyuki Kodani
Keyword(s):  
Legged Robot ◽  
Attitude Stabilization

scholarly journals Synchronization of Non-linear Oscillators for Neurobiologically Inspired Control on a Bionic Parallel Waist of Legged Robot

2019 ◽  
Vol 13 ◽  
Author(s):  
Yaguang Zhu ◽  
Shuangjie Zhou ◽  
Dongxiao Gao ◽  
Qiong Liu
Keyword(s):  
Legged Robot ◽  
Non Linear

scholarly journals Vertical Jumping for Legged Robot Based on Quadratic Programming

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3679
Author(s):  
Dingkui Tian ◽  
Junyao Gao ◽  
Xuanyang Shi ◽  
Yizhou Lu ◽  
Chuzhao Liu
Keyword(s):  
Quadratic Programming ◽  
Stance Phase ◽  
Center Of Mass ◽  
Maximum Error ◽  
Legged Robot ◽  
Flight Phase ◽  
Programming Framework ◽  
Vertical Jumping ◽  
Control Schemes ◽  
And Control

The highly dynamic legged jumping motion is a challenging research topic because of the lack of established control schemes that handle over-constrained control objectives well in the stance phase, which are coupled and affect each other, and control robot’s posture in the flight phase, in which the robot is underactuated owing to the foot leaving the ground. This paper introduces an approach of realizing the cyclic vertical jumping motion of a planar simplified legged robot that formulates the jump problem within a quadratic-programming (QP)-based framework. Unlike prior works, which have added different weights in front of control tasks to express the relative hierarchy of tasks, in our framework, the hierarchical quadratic programming (HQP) control strategy is used to guarantee the strict prioritization of the center of mass (CoM) in the stance phase while split dynamic equations are incorporated into the unified quadratic-programming framework to restrict the robot’s posture to be near a desired constant value in the flight phase. The controller is tested in two simulation environments with and without the flight phase controller, the results validate the flight phase controller, with the HQP controller having a maximum error of the CoM in the x direction and y direction of 0.47 and 0.82 cm and thus enabling the strict prioritization of the CoM.

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