An omnidirectional gait control using a graph search method for a quadruped walking robot

2002 ◽  
Author(s):  
D.J. Pack ◽  
HoSeok Kang
Keyword(s):  
Search Method ◽  
Graph Search ◽  
Walking Robot ◽  
Gait Control ◽  
Quadruped Walking Robot

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 48 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Forward And Inverse Kinematics ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

scholarly journals Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation - Step Over Gait to Avoid Concrete Frames on Steep Slopes -

2007 ◽  
Vol 19 (1) ◽  
pp. 13-26 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
◽  
Takahiro Doi ◽  
Yasushi Fukuda ◽  
Shigeo Hirose ◽  
...  
Keyword(s):  
Stability Margin ◽  
Walking Robot ◽  
Concrete Frames ◽  
Gait Control ◽  
Graphical Simulation ◽  
Quadruped Walking Robot ◽  
Sufficient Stability ◽  
Adaptive Gait ◽  
Step Over ◽  
Steep Slopes

We detail a step over gait for a quadruped walking robot that maintains a continuous walking with sufficient stability margin for avoiding ferroconcrete reinforcement frames covering steep slopes. For this gait, the robot must adapt itself to terrain and step over these frames. We propose a terrain-adaptive gait based on an intermittent crawl gait using map information. After introducing the gait control algorithm, we show results of graphical simulation to verify the proposed algorithm. Then, these discussions are established by walking experiments using the developed quadruped walking robot named TITAN XI.

Design and Analysis of the Quadruped Walking Robot Based on 3-RPS Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 201-205
Author(s):  
Hong Bo Wang ◽  
Yun Wang ◽  
Ling Feng Sang ◽  
Qi Fang Gu ◽  
Yong Fei Feng
Keyword(s):  
Parallel Mechanism ◽  
Theoretical Foundation ◽  
Virtual Organization ◽  
The Elderly ◽  
Search Method ◽  
Optimum Size ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
The Disabled ◽  
Parallel Leg Mechanism

Based on the importance of the robot for the elderly and the disabled, a quadruped walking robot using 3-RPS parallel mechanism as the basic leg mechanism is proposed. The structure of the basic leg is described, and the whole structure of the quadruped walking robot is formed. Then taking the workspace of the basic leg as the standard, the optimum size parameters of the upper platform and the lower platform of the based leg are achieved. Meanwhile the workspace of the basic leg is obtained by the anti-solution search method. Taking the basic leg as analysis object and applying the virtual organization method, the kinematic expression is got. All of these analyses lay a theoretical foundation for the further study on the quadruped walking robot with parallel leg mechanism.

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

2018 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Uneven Terrain ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

3D Visual Information Processing and Gait Control of a Quadruped Robot - for operation on a steep slope protected by a free frame -

2003 ◽  
Vol 15 (3) ◽  
pp. 349-355 ◽  
Author(s):  
Takahiro Doi ◽  
◽  
Hideyuki Tsukagoshi ◽  
Shigeo Hirose
Keyword(s):  
Visual Information ◽  
Quadruped Robot ◽  
Steep Slope ◽  
Walking Robot ◽  
Construction Work ◽  
Gait Control ◽  
Natural Slope ◽  
Quadruped Walking Robot ◽  
The Stability ◽  
Steep Slopes

Construction work on steep slopes is difficult and dangerous, but it is also difficult to automate work at such type sites. One reason is that construction sometimes calls for movement across a ""Free Frame"" - a structure built to keep a slope from collapsing - and because of the ups and downs of the natural slope, it is difficult to design a purposeful simple mechanism to move on this frame. We propose a sensor-based quadruped walking robot that moves on the slope without damage to the surface of the frame, and developed a TITAN VII prototype robot. We detail the techniques required by this type robot to move and work on steep slopes. Practical ways of A) detecting positions and orientations of frame surfaces on rough slopes and B) stepping over the frame and maintaining the stability of the robot using positioning, are presented and their effectiveness is verified through experiments.

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