Active disturbances rejection control of a quadruped robot leg

2013 ◽  
Author(s):  
Kaiying Zhu ◽  
Jian Wang ◽  
Hongxu Ma ◽  
Qing Wei
Keyword(s):  
Quadruped Robot ◽  
Robot Leg

Control of a hydraulically-actuated quadruped robot leg

2010 ◽  
Author(s):  
Michele Focchi ◽  
Emanuele Guglielmino ◽  
Claudio Semini ◽  
Thiago Boaventura ◽  
Yousheng Yang ◽  
...  
Keyword(s):  
Quadruped Robot ◽  
Hydraulically Actuated ◽  
Robot Leg

OPTIONAL DESIGN OF LEG STRUCTURE OF BIONIC QUADRUPED ROBOT

2013 ◽  
Vol 13 (06) ◽  
pp. 1340016 ◽  
Author(s):  
BIN CHEN ◽  
ZHIYONG TANG ◽  
ZHONGCAI PEI
Keyword(s):  
Optimal Design ◽  
Theoretical Basis ◽  
Structure Optimization ◽  
Quadruped Robot ◽  
Length Ratio ◽  
Motor Ability ◽  
Complicated Structure ◽  
Research Results ◽  
Robot Leg ◽  
Robot Body

A kind of new bionic quadruped robot-Hound was designed. Determined the structure of the robot body and geometry relationships based on the bionics research, especially the structure of legs which was the root of robot action. According to the problem of abundant leg segments and complicated structure, studied on achieving the optimal design of leg structure so as to increase the workspace area of robot leg and improve the flexibility of robot body. Found the best length ratio of leg segments through the analysis of the workspace, flexibility, obstacle crossing height of robot. These research results provided the reliable theoretical basis for the structure optimization of robot leg and could greatly promote the motor ability of hydraulic quadruped robot.

scholarly journals Quadruped Robot Leg Optimization Based on a Multi-Objective Genetic Algorithm

Mechanika ◽  
2018 ◽  
Vol 23 (6) ◽  
Author(s):  
Yongnian ZHANG ◽  
Xinsheng WANG ◽  
Yuhong XIN ◽  
Yang WU ◽  
Min KANG ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Quadruped Robot ◽  
Multi Objective ◽  
Multi Objective Genetic Algorithm ◽  
Robot Leg

Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg

2012 ◽  
Author(s):  
Shuang Peng ◽  
David T. Branson ◽  
Emanuele Guglielmino ◽  
Thiago Boaventura ◽  
Darwin G. Caldwell
Keyword(s):  
Performance Assessment ◽  
Flow Rate ◽  
System Performance ◽  
Quadruped Robot ◽  
Position Tracking ◽  
System Efficiency ◽  
Hydraulic Systems ◽  
Robot Leg ◽  
Actuation Systems ◽  
Hydraulic Valves

This paper presents an investigation of the performance of digital hydraulic actuation in robot applications. The research compares two different hydraulic actuation systems, utilizing servo and digital hydraulic valves, developed to drive one leg of a hydraulic quadruped robot (HyQ). Comparisons between the two systems for position tracking, required flow rate and system efficiency are discussed. Results show that digital hydraulic systems can be a valid alternative to servo valves in terms of position tracking, and show that digital valves can greatly improve system performance in the form of reduced required flow rate and improved overall system efficiency.

Gait of Quadruped Robot Including Positioning Control Using Linear Visual Servoing

2011 ◽  
Vol 5 (5) ◽  
pp. 649-654
Author(s):  
Yukinari Inoue ◽  
◽  
Noriaki Maru ◽  
Keyword(s):  
Visual Servoing ◽  
Quadruped Robot ◽  
Joint Angles ◽  
Feed Forward ◽  
Positioning Control ◽  
Quadruped Robots ◽  
Robot Leg

Quadruped robots walking in discrete environments conventionally control leg swinging using either simple potentiometer-based feedback or feed forward. We think accurate positioning control for a safe landing using visual servoing is required. Conventional visual servoing, however, has problems such as requiring complex nonlinear calculation with exact camera and joint angles. To solve these problems, we propose Linear Visual Servoing (LVS) for positioning the quadruped robot leg in a gait. We show that the robot can make minor adjustments despite error between planned and safe landing points.

DESAIN SISTEM GERAK ROBOT QUADRUPED BERBASIS ARDUINO MENGGUNAKAN BLUEETOOTH HC-05

SIGMA TEKNIKA ◽  
2019 ◽  
Vol 2 (1) ◽  
pp. 20
Author(s):  
Endang Susanti
Keyword(s):  
Quadruped Robot

Robot adalah alat mekanik yang dapat melakukan tugas fisik baik melalui kontrol manusia maupun secara otomatis.. Salah satu contoh yaitu robot quadruped. Robot quadruped merupakan robot yang menirukan anatomi dari laba-laba dalam proses geraknya. Pada perancangan robot quadruped menggunakan module bluetooth hc 05 sebagai pengontrol geraknya yang disingkronkan dengan smartphone sebagai remote controlnya. Robot quadruped juga ditambahkan pengaman berupa sensor utrasonik apabila terputusnya koneksi smarphone dengan robot quadruped, sensor utrasonik mengambil peranan untuk menghindari halagan agar tidak terjadi kerusakan pada robot. Jarak maksimal dari module Bluetooth 10 meter, kettika lebih dari 10 meter, koneksi akan terputus dan tidak dapat tekoneksi kembali Kata kunci: Teknologi, robot, quadruped, module bluetooth, sensor ultrasonik.

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