BIOLOGICALLY INSPIRED MOTION SYNTHESIS METHOD OF TWO-LEGGED ROBOT

SUMMARYThis work presents biologically inspired method of gait generation. It uses the reference to the periodic signals generated by biological central pattern generator. The coupled oscillators with correction functions are used to produce leg joint trajectories. The human gait is the reference pattern. The features of generated gait are compared to the human walk. The spring-loaded foot design is presented together with experimental results.

Download Full-text

Evolutionary Motion Synthesis for a Modular Robot Using Genetic Algorithm

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2003.p0227 ◽

2003 ◽

Vol 15 (2) ◽

pp. 227-237 ◽

Cited By ~ 5

Author(s):

Eiichi Yoshida ◽

◽

Satoshi Murata ◽

Akiya Kamimura ◽

Kohji Tomita ◽

...

Keyword(s):

Genetic Algorithm ◽

Fitness Function ◽

Synthesis Method ◽

Three Dimensional ◽

Modular Robot ◽

Motion Synthesis ◽

Natural Manner ◽

Simple Description ◽

Motion Sequence ◽

Feasible Solutions

An evolutionary motion synthesis method using genetic algorithm (GA) is presented for self-reconfigurable modular robot M-TRAN designed to realize various robotic motions and three-dimensional structures. The proposed method is characterized by its capacity to derive feasible solutions for complex synthesis problem of M-TRAN through natural genetic representation. For this purpose, the behavior of the robot is described using a motion sequence including both the dynamic motions and configuration changes of the robot. It is a series of segments each of which can specify simultaneous motor actuations and selfreconfiguration by connection/disconnection, starting from a given initial configuration. This simple description can be straightforwardly encoded into genetic representation to which genetic operations can be applied in a natural manner. We adopt traveling distance achieved by the evolved motion as the fitness function of GA. To verify the effectiveness of the proposed method, we have conducted simulations of evolutionary motion synthesis for certain initial configurations. Consequently, we confirm various adaptive motions are acquired according to different initial configurations and fitness functions. We also verify the physical feasibility of the evolved motions through experiments using hardware module M-TRAN II.

Download Full-text

Biologically-inspired legged robot locomotion controlled with a BCI by means of cognitive monitoring

IEEE Access ◽

10.1109/access.2021.3062329 ◽

2021 ◽

pp. 1-1

Author(s):

Patricia Batres-Mendoza ◽

Erick Israel Guerra-Hernandez ◽

Andres Espinal ◽

Eduardo Perez-Careta ◽

Horacio Rostro-Gonzalez

Keyword(s):

Legged Robot ◽

Biologically Inspired ◽

Robot Locomotion ◽

Cognitive Monitoring

Download Full-text

Mixed synthesis method of motion and path of planar four-bar linkages

Mechanical Sciences ◽

10.5194/ms-12-443-2021 ◽

2021 ◽

Vol 12 (1) ◽

pp. 443-449

Author(s):

Rui Wu ◽

Ruiqin Li ◽

Hailong Liang ◽

Fengping Ning

Keyword(s):

Synthesis Method ◽

Equation System ◽

Optimal Combination ◽

Synthesis Problem ◽

Path Generation ◽

Motion Synthesis ◽

Filtering Algorithm ◽

Four Bar Linkage

Abstract. The mixed synthesis of motion and path generation, which is also known as the Alt–Burmester problem, is an attractive problem for study. However, such a problem for the four-bar linkages which possess more than M poses (M>5) and mixed N path points has not been well-solved. In this work, a mixed synthesis method is developed for planar four-bar linkages to cope with the above problem. The developed method can quickly select an optimal combination that contains five poses and N points by using the conic filtering algorithm, which is based on the similar characteristics of the value and direction between the conic and coupler curves in a certain neighborhood. Next, the selected five poses are substituted into a simplified equation system of motion synthesis which includes four equations and four variables to solve the parameters of the planar four-bar linkage. Finally, a case is provided to validate the effectiveness of the developed method in the mixed synthesis problem.

Download Full-text

Design considerations for a biologically inspired compliant four-legged robot

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2009.5420606 ◽

2009 ◽

Cited By ~ 6

Author(s):

Katayon Radkhah ◽

Stefan Kurowski ◽

Oskar von Stryk

Keyword(s):

Legged Robot ◽

Biologically Inspired ◽

Design Considerations

Download Full-text

Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.496.247 ◽

2012 ◽

Vol 496 ◽

pp. 247-250 ◽

Cited By ~ 2

Author(s):

Yu Rong ◽

Zhen Lin Jin ◽

Meng Ke Qu

Keyword(s):

Theoretical Foundation ◽

Screw Theory ◽

Synthesis Method ◽

Specific Structure ◽

Legged Robot ◽

Walking Robot ◽

Type Synthesis ◽

Structural Synthesis ◽

Manifold Theory ◽

Leg Mechanisms

In order to use the parallel leg mechanisms in the six-legged robot, a six-legged walking robot with parallel leg mechanisms was presented. A six-legged walking robot type synthesis method based on screw theory was proposed. By this method, the paper carried on the structural synthesis of whole robot and the parallel leg mechanisms. 2-UPS&UP mechanism was chosen as the leg mechanism of the six-legged walking robot. 2-UPS&UP mechanism had been proven not to be an instantaneous mechanism by the displacement manifold theory. The specific structure of the six-legged walking robot based on2-UPS&UP mechanism was designed. These studies laid the theoretical foundation for further study of the six-legged walking robot. This type synthesis method could be used for the design of other multi-legged walking robot.

Download Full-text