scholarly journals A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 150435-150446
Author(s):  
Chao Ding ◽  
Lelai Zhou ◽  
Yibin Li ◽  
Xuewen Rong
Keyword(s):  
Control Method ◽  
Locomotion Control ◽  
Quadruped Robots

scholarly journals Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Songyuan Zhang ◽  
Hongji Zhang ◽  
Yili Fu
Keyword(s):  
Trajectory Planning ◽  
Position Control ◽  
Impedance Control ◽  
Contact Dynamics ◽  
Polar Coordinates ◽  
Geometric Transformation ◽  
Identification System ◽  
Locomotion Control ◽  
Quadruped Robots ◽  
Test Platform

Locomotion control for quadruped robots is commonly applied on rigid terrains with modelled contact dynamics. However, the robot traversing different terrains is more important for real application. In this paper, a single-leg prototype and a test platform are built. The Cartesian coordinates of the foot-end are obtained through trajectory planning, and then, the virtual polar coordinates in the impedance control are obtained through geometric transformation. The deviation from the planned and actual virtual polar coordinates and the expected force recognized by the ground compliance identification system are sent to the impedance controller for different compliances. At last, several experiments are carried out for evaluating the performance including the ground compliance identification, the foot-end trajectory control, and the comparison between pure position control and impedance control.

Tether Based Locomotion for Astronaut Support Robot Introduction of Robot Experiment on JEM

2013 ◽  
Vol 25 (2) ◽  
pp. 306-315 ◽  
Author(s):  
Mitsuhiro Yamazumi ◽  
◽  
Mitsushige Oda
Keyword(s):  
New Technologies ◽  
Control Method ◽  
Tension Control ◽  
Microgravity Environment ◽  
Locomotion Control ◽  
Problem Model ◽  
Robot Locomotion ◽  
New Type ◽  
Onboard Equipment ◽  
Experiment Module

An astronaut support robot called Astrobot will conduct tasks to reduce workloads of astronauts and risks of hazardous incidents that include astronauts. To realize Astrobot, new technologies must be developed such as robot locomotion capability to move robot’s location so that it arrives at required workplace and returns to its storage position. We are proposing a new type of robot locomotion method that uses tethers. JAXA is conducting experiments called Robot Experiment on Japanese Experiment Module or REX-J, to evaluate the usefulness of these new technologies. This paper discusses REX-J’s tether based locomotion control. This proposed tether locomotion control is defined as an under-actuated cable driven parallel manipulator. This system is difficult to control because tethers easily become slack in microgravity environment in orbit, which instantly changes their state. To cope with this problem, model-based control method using statics analysis is proposed as slackless control in microgravity environment. The proposed sequential tether length and tension control were tested using a breadboard model. REX-J onboard equipment was transported to the ISS/JEMin July 2012 and many experiments are now being conducted.

Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint

2017 ◽  
Vol 29 (3) ◽  
pp. 536-545
Author(s):  
Masahiro Ikeda ◽  
◽  
Ikuo Mizuuchi
Keyword(s):  
Energy Loss ◽  
Energy Flow ◽  
Control Method ◽  
Quadruped Robot ◽  
Rough Terrain ◽  
Legged Robot ◽  
Walking Robot ◽  
Passive Joint ◽  
Quadruped Robots ◽  
The Relationship

[abstFig src='/00290003/09.jpg' width='300' text='Energy flow in legged robot' ] As a method of robot movement, legs have the advantage of traversability on rough terrain. However, the motion of a legged robot is accompanied by energy loss. The main causes for this loss could be negative work and contact between the legs and ground. On the other hand, animals with legs are considered to reduce energy loss by using the elasticity of their body. In this study, we analyze the influence of walking, using an elastic passive joint mounted on the trunk of a quadruped robot, on the energy loss. Additionally, we study the energy flow between legs and elastic components. In this study, we clarify a control method for quadruped robots in order to reduce the energy loss of walking. The results of simulating a quadruped walking robot, which has passive joints with elastic components on the trunk, are analyzed and the relationship between each kind of energy loss and the trunk joint’s elasticity is clarified.

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