1A2-F14 Rough Terrain Locomotion of Hydraulically Actuated Hexapod Robot with Impedance Control

2009 ◽  
Vol 2009 (0) ◽  
pp. _1A2-F14_1-_1A2-F14_4
Author(s):  
Lijun Li ◽  
Yuji HARADA ◽  
Hiroshi OOROKU ◽  
Kosuke FUTAGAMI ◽  
Xiaowu LIN ◽  
...  
Keyword(s):  
Impedance Control ◽  
Rough Terrain ◽  
Hexapod Robot ◽  
Hydraulically Actuated

244 Rough Terrain Locomotion of Hydraulically Actuated Hexapod Robot with Force Control

2007 ◽  
Vol 2007 (0) ◽  
pp. _244-1_-_244-5_
Author(s):  
Masaki OKU ◽  
Yuji HARADA ◽  
Hiroshi OOROKU ◽  
Satoru SAKAI ◽  
Kenzo NONAMI
Keyword(s):  
Force Control ◽  
Rough Terrain ◽  
Hexapod Robot ◽  
Hydraulically Actuated

1A1-H03 Rough Terrain Locomotion Control of Hydraulically Actuated Hexapod Robot COMET-IV

2008 ◽  
Vol 2008 (0) ◽  
pp. _1A1-H03_1-_1A1-H03_4
Author(s):  
Masaki OKU ◽  
Hidetaka KOSEKI ◽  
Hiroshi OOROKU ◽  
Yuji HARADA ◽  
Kosuke FUTAGAMI ◽  
...  
Keyword(s):  
Rough Terrain ◽  
Hexapod Robot ◽  
Locomotion Control ◽  
Hydraulically Actuated

scholarly journals Research on the Posture Control Method of Hexapod Robot for Rugged Terrain

2020 ◽  
Vol 10 (19) ◽  
pp. 6725
Author(s):  
Yubin Liu ◽  
Chunbo Wang ◽  
He Zhang ◽  
Jie Zhao
Keyword(s):  
Control Method ◽  
Posture Control ◽  
Rough Terrain ◽  
Maintenance Strategy ◽  
Hexapod Robot ◽  
Rugged Terrain ◽  
Foot Force ◽  
Adjustment Strategy ◽  
Posture Maintenance ◽  
Posture Adjustment

This paper proposes a hexapod robot posture control method for rugged terrain to solve the problem of difficulty in realizing the posture control of a foot robot in rough terrain. The walking gait and original position of a six-legged robot is planned, and the Layer Identification of Tracking (LIT) strategy is developed to enable the robot to distinguish mild rugged terrain and severe rugged terrains automatically. The virtual suspension dynamic model is established. In mild rugged terrain, the posture maintenance strategy is adopted to keep the stability of the torso. In severe rugged terrain, the posture adjustment strategy is adopted to ensure the leg workspace and make it more widely adapt to the changing terrain, and a gravity center position adjustment method based on foot force distribution is designed to use foot force as feedback to control the position and attitude. The experiment of posture control in rough terrain and climbing experiment in the ladder terrain shows that the hexapod robot has good posture maintenance and posture adjustment effects when traversing complex terrain through the posture maintenance strategy and the posture adjustment strategy. Combined with the terrain identification method based on LIT, the hexapod robot can successfully climb the ladder terrain through the identification of the changing ladder terrain, and the movement of the posture adjustment process is stable.

Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot

1996 ◽  
Vol 18 (1-2) ◽  
pp. 59-64 ◽  
Author(s):  
Kenneth S. Espenschied ◽  
Roger D. Quinn ◽  
Randall D. Beer ◽  
Hillel J. Chiel
Keyword(s):  
Distributed Control ◽  
Rough Terrain ◽  
Hexapod Robot

Compliant Walking Control for Hydraulic Driven Hexapod Robot on Rough Terrain

2011 ◽  
Vol 23 (1) ◽  
pp. 149-162 ◽  
Author(s):  
Addie Irawan ◽  
◽  
Kenzo Nonami ◽  
Keyword(s):  
Large Scale ◽  
Rough Terrain ◽  
Vertical Force ◽  
Hexapod Robot ◽  
Actual System ◽  
Step Motion ◽  
Motion Signal ◽  
Decision Control ◽  
Compliant Control ◽  
Kinematic Motion

This article describes the proposed force-based walking method for hydraulically driven hexapod robot named COMET-IV, to walk on the large scale rough terrain. The trajectory is designed where foot step motion for each leg is decided by vertical force on the foot that is calculated from cylinder torque of thigh and shank. This proposed walking trajectory is established with compliant control strategy, which consists of force control based on position range from the trajectory motion signal. This force controller is dynamically control ON/OFF by proposed decision algorithms that derived from the changes of kinematic motion of the trajectory itself. In addition logical attitude (body) control is designed as a part of the decision control module that makes a pre-calculation of decision making based on leg sequence changes. For more stability dynamic swings raising control is derived from trajectory equations to perform a different degree of swing rising for each leg when the robot stepping on the different level of terrain. All proposed controllers are verified in the COMET-IV actual system with walking on the designed rough terrain platform consists of random levels of hard bricks and rubber pads.

1A1-H02 Tele-operation of Hydraulically Actuated Hexapod Robot COMET-IV

2008 ◽  
Vol 2008 (0) ◽  
pp. _1A1-H02_1-_1A1-H02_3
Author(s):  
Hiroshi OOROKU ◽  
Masaki OKU ◽  
Yuji HARADA ◽  
Kosuke FUTAGAMI ◽  
Xiaowu LIN ◽  
...  
Keyword(s):  
Hexapod Robot ◽  
Hydraulically Actuated
Sign in / Sign up

Export Citation Format

Share Document