scholarly journals A novel human-carrying quadruped walking robot

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141771659 ◽  
Author(s):  
Lingfeng Sang ◽  
Hongbo Wang ◽  
Hongnian Yu ◽  
Luige Vladareanu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Carrying Capacity ◽  
Parallel Mechanism ◽  
Position Control ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Universal Joint ◽  
Gait Planning ◽  
Quadruped Walking Robot

This article adopts a 2-UPS+UP (U, P, and S are universal joint, the prismatic joint, and sphere joint, respectively) parallel mechanism as the leg mechanism of the quadruped walking robot based on the bionic concept and the motion capacity of the leg mechanism. The article investigates the kinematics (including the leg mechanism and the whole mechanism), gait planning, control, and experiment in detail. The following tasks are conducted: (1) designing the whole mechanism and developing the kinematics equations for both the leg mechanism and the whole mechanism; (2) planning the trotting gait and designing the foot trajectory based on the robot characteristics and conducting the kinematics analysis; (3) building the control system of the robot using self-developed controllers and drivers and studying the compound position control strategy; and (4) conducting the experiments for validating the controller, the compound position control strategy, the trotting pace, carrying capacity, and human-carrying walking. The results confirm that the proposed human-carrying walking robot has good performance and it is also verified that the controller and the compound position control strategy are suitable.

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.

Smart Prosthetic Hand with Object Slippage Detection, Measurement, and Control

2014 ◽  
Vol 5 (3) ◽  
pp. 25-48
Author(s):  
Girish Sriram ◽  
Alex Jensen ◽  
Steve C. Chiu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Sensory Feedback ◽  
Position Control ◽  
Tactile Feedback ◽  
Human Hand ◽  
Computing Platform ◽  
Emg Signal ◽  
A New Technique

The human hand along with its fingers possess one of the highest numbers of nerve endings in the human body. It thus has the capacity for the richest tactile feedback for positioning capabilities. This article shares a new technique of controlling slippage. The sensing system used for the detection of slippage is a modified force sensing resistor (FSR®). The control system is a fuzzy logic control algorithm with multiple rules that is designed to be processed on a mobile handheld computing platform and integrated/working alongside a traditional Electromyography (EMG) or Electroencephalography (EEG) based control system used for determining position of the fingers. A 5 Degrees of Freedom (DOF) hand, was used to test the slippage control strategy in real time. First a reference EMG signal was used for getting the 5 DOF hand to grasp an object, using position control. Then a slip was introduced to see the slippage control strategy at work. The results based on the plain tactile sensory feedback and the modified sensory feedback are discussed.

scholarly journals Robust control strategy for improving the performance of a soft robotic link

2021 ◽  
pp. 499-506
Author(s):  
Luis Nagua ◽  
Jorge Muñoz ◽  
Lisbeth Mena ◽  
Concepcion A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Control System ◽  
Robust Control ◽  
Fractional Order ◽  
Control Strategy ◽  
Parallel Mechanism ◽  
Pi Controller ◽  
Main Element ◽  
Flexion Extension ◽  
Robust Control System ◽  
Fractional Order Pi Controller

The robotic neck mechanism considered in this paper has as main element a soft link that emulates a human neck with two DOF (flexion, extension and lateral bending). The mechanism is based on a Cable-Driven Parallel Mechanism (CDPM) with components easy to manufacture in a 3D printer.Due to the soft link properties and the platform mechanics, it is important to provide a robust control system. Two designs, a robust PID controller and a Fractional Order PI controller (FOPI) are proposed and compared, the fractional order control showing an enhanced performance. Both control approaches are tested in the real prototype, validating the soft neck feasibility and showing the robustness of the platform to mass changes at the neck tip.

Kinematics Analysis and Motion Simulation of a Quadruped Walking Robot with Parallel Leg Mechanism

2010 ◽  
Vol 4 (1) ◽  
pp. 77-85 ◽  
Author(s):  
Hongbo Wang ◽  
Zhengyan Qi ◽  
Guiling Xu ◽  
Fengfeng Xi ◽  
Guoqing Hu ◽  
...  
Keyword(s):  
Motion Simulation ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
Parallel Leg Mechanism

Dynamic Analysis and Control Research of a 3-DOF Hydraulic Driven Parallel Mechanism

2020 ◽  
Vol 13 (2) ◽  
pp. 156-170
Author(s):  
Bing Zhang ◽  
Saike Jiang ◽  
Ziliang Jiang ◽  
Jiandong Li ◽  
Kehong Zhou ◽  
...  
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Mechanism ◽  
Control Method ◽  
Simulation Method ◽  
Euler Method ◽  
Parallel Mechanisms ◽  
Rigid Body Dynamic ◽  
And Control

Background: The parallel mechanism is widely used in motion simulators, parallel machine tools, medical equipment and other fields. It has advantages of high rigidity, stable structure and high carrying capacity. However, the control strategy and control method are difficult to study because of the complexity of the parallel mechanism system. Objective: The purpose of this paper was to verify the dynamic model of a hydraulic driven 3-DOF parallel mechanism and propose a compound control strategy to broaden the bandwidth of the control system. Methods: The single rigid body dynamic model of the parallel mechanism was established by the Newton Euler method. The feed forward control strategy based on joint space control with inverse kinematic was designed to improve the bandwidth and control precision. The co-simulation method based on MATLAB / SIMULINK and ADAMS was adopted to verify the dynamics and control strategy. Results: The bandwidth of each degree of freedom in the 3-DOF parallel mechanism was used to expand about 10Hz and the amplitude error was controlled below 5%. Conclusion: Based on the designed dynamic model and composite control strategy, the controlled accuracy of the parallel mechanism is improved and the bandwidth of the control system is broadened. Furthermore, the improvements can be made in aspects of control accuracy and real-time performance to compose more patents on parallel mechanisms.

Kinematics analysis on the serial-parallel leg of a novel quadruped walking robot

2015 ◽  
Vol 23 (11) ◽  
pp. 3147-3160 ◽  
Author(s):  
高建设 GAO Jian-she ◽  
李明祥 LI Ming-xiang ◽  
侯伯杰 HOU Bo-jie ◽  
王保糖 WANG Bao-tang
Keyword(s):  
Kinematics Analysis ◽  
Walking Robot ◽  
Quadruped Walking Robot

A new six-parallel-legged walking robot for drilling holes on the fuselage

2013 ◽  
Vol 228 (4) ◽  
pp. 753-764 ◽  
Author(s):  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Working Conditions ◽  
Parallel Mechanism ◽  
Position Control ◽  
Control Method ◽  
Control Mode ◽  
Legged Robot ◽  
Walking Robot ◽  
Kinematical Model ◽  
Prismatic Joints ◽  
Control Curves

In this paper, a new kind of six-parallel-legged robot is presented. It is designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism with three chains: 1UP and 2UPS. The three prismatic joints are active joints and can be controlled either by position or by force. First, the task process and the gait plan are discussed and then, according to the requirement, the control method is introduced. After that, the mechanism topology patterns under different working conditions are studied and the control mode of each motor is determined. Then the kinematical model is built up, based on which the position control curves can be obtained. The simulation result shows that the robot can walk pretty well on the fuselage surface and that the actuation forces are quite smooth. Furthermore, the first prototype has been manufactured and some experiments such as walking and manipulation have been done.

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