1A1-P03 Non-Tumbling Gait and Safety of Multi-legged Locomotion(Walking Robot (1))

As safe and effective underwater vehicle, underwater robot is considered to be an ideal tool for the investigation and exploitation in the large offshore area. There has been a growing interest to develop six-legged underwater walking robot for the researchers since the six-legged locomotion is more flexible and adaptable on the seafloor than other types of locomotion. The trajectory for the leg of the six-legged walking robot has a great influence on the locomotion quality and efficiency when the robot is a heavy one. The power consumed in the locomotion with different leg trajectories differs from each other greatly. Therefore, it is of great significance to study the trajectory of the leg. Of all the locomotion of the walking robot, crossing over obstacle is a typical one. Thus this paper mainly studies the trajectory generation for the leg of the six-legged walking robot over obstacle in the structured terrain. The robot has eighteen DOF and all the joints are hydraulically driven. In the current study, technical analysis is performed with the emphasis on the power consumption while crossing over obstacle. The analysis is conducted at various trajectories so as to compare the power consumed in different trajectories. Meanwhile, the study has also taken the smooth movement of the joint into consideration. The trajectory of the leg is theoretically analyzed and simulated. The kinematic simulation and the power consumed with different trajectories are both conducted in MATLAB. Simulation results have demonstrated the influence of trajectory on the power consumption of the robot while crossing over obstacle. The study has provided a theoretical way for the trajectory generation over obstacle for the six-legged walking robot.

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Kinematic and dynamic performance analysis of artificial legged systems

Robotica ◽

10.1017/s0263574707003554 ◽

2008 ◽

Vol 26 (1) ◽

pp. 19-39 ◽

Cited By ~ 23

Author(s):

Manuel F. Silva ◽

J. A. Tenreiro Machado

Keyword(s):

Dynamic Models ◽

Dynamic Performance ◽

Legged Locomotion ◽

The Body ◽

Walking Robot ◽

Mean Power ◽

Robot Locomotion ◽

Absolute Density ◽

The Mean ◽

Dynamic Performance Analysis

SUMMARYThis paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion systems based on its kinematic and dynamic models. The purpose is to determine the system performance during walking, and the best set of locomotion variables that minimize a set of optimization indices. In this perspective, two kinematic and four dynamic indices are formulated to quantitatively measure the performance of the walking robot. The kinematic indices consist of the perturbation analysis and the locomobility measure, and the dynamic performance indices of the walking robot locomotion are the mean absolute density of energy, the mean power density dispersion, the density of power lost and the mean force at the body-legs interface. A set of model-based simulation experiments reveals the system configuration and the type of movements that lead to a better performance, for a specific locomotion mode, from the viewpoint of the proposed indices.

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A New Type of Walking Robot Based upon Jansen Mechanism

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.463-464.997 ◽

2012 ◽

Vol 463-464 ◽

pp. 997-1001 ◽

Cited By ~ 2

Author(s):

Florina Moldovan ◽

Valer Dolga ◽

Carmen Sticlaru

Keyword(s):

Legged Locomotion ◽

Walking Robots ◽

Crossing Over ◽

Walking Robot ◽

Simulation Tools ◽

Kinematical Analysis ◽

General Overview ◽

End Point ◽

Cad Simulation ◽

New Type

In this article it is presented a general overview of the existing types of walking robots developed in the field of robotics research and the main advantages offered by legged locomotion in achieving a specific agility in crossing over uneven terrains. The aim of this article is to present the results of kinematical analysis developed upon a ten bar linkage designed in CAD in order to study the possibility of using this new type of mechanism for building a walking robot. It also illustrates the advantages of using CAD simulation tools for analyzing the path described by the end point of the foot during walking.

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Optimal Energy-Effective Gait for Biped Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.347-350.839 ◽

2013 ◽

Vol 347-350 ◽

pp. 839-843

Author(s):

Li Peng Yuan ◽

Li Ming Yuan ◽

Hong Ying Lu

Keyword(s):

Biped Robot ◽

Legged Locomotion ◽

Metabolic Energy ◽

Two Dimensional ◽

Walking Robot ◽

Gait Patterns ◽

Optimal Energy ◽

Biped Walking Robot ◽

Large Animals ◽

Metabolic Energy Expenditure

Although peoples legs are capable of a broad range of muscle-use and gait patterns, they generally prefer just two, walking and running. A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed. An energy-effective gait is designed by using piecewise torque method. Then, the robot model can exhibit a natural and reasonable walk on a level ground. The results can prove that the proposed optimal energy-effective gait is suitable for this kneed biped walking robot. And we also discover some walking rules maybe true through the results of optimization.

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Comparison of Fractional and Integer Order Control of an Hexapod Robot

Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C ◽

10.1115/detc2003/vib-48377 ◽

2003 ◽

Cited By ~ 9

Author(s):

Manuel F. Silva ◽

J. A. Tenreiro Machado ◽

Anto´nio M. Lopes

Keyword(s):

Performance Measures ◽

System Performance ◽

Legged Locomotion ◽

Walking Distance ◽

Hexapod Robot ◽

Walking Robot ◽

Mean Power ◽

Absolute Power ◽

The Mean ◽

Power Dispersion

This paper studies the dynamics of foot-ground interaction and the performance of integer and fractional order controllers in multi-legged locomotion systems. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, to compare the system performance, we formulate six performance measures of the walking robot namely, the mean absolute power, the mean power dispersion, the mean power lost in the joint actuators, the mean force of the interface body-legs per walking distance and the mean square error of the hip and foot trajectories. A set of model-based experiments reveals the influence of the different controller implementations in the proposed indices.

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Design of a Two DOF Laminate Leg Transmission for Creating Walking Robot Platforms

Volume 5B: 43rd Mechanisms and Robotics Conference ◽

10.1115/detc2019-98100 ◽

2019 ◽

Author(s):

Benjamin D. Shuch ◽

Taha Shafa ◽

Eric Rogers ◽

Daniel M. Aukes

Keyword(s):

Range Of Motion ◽

Low Cost ◽

Legged Locomotion ◽

Degree Of Freedom ◽

Walking Robot ◽

Control Space ◽

Critical Design ◽

Design Considerations ◽

Laminate Design ◽

Two Degree Of Freedom

Abstract In this article we present a low-cost, two degree-of-freedom laminate robot transmission for legged locomotion applications. This transmission is specifically applied in the design of a quadrupedal robot, and has the potential to be used in other multi-legged systems. It offers a complex control space with a variety of different programmable gait trajectories, while leveraging low-cost linkages made using laminate approaches. The two-degree-of-freedom kinematics of the leg are subsequently modeled in Python, and the workspace of the robot is then experimentally verified on an initial quadrupedal design. Critical design considerations include the laminate design, the rigidity of the materials that make up the laminate, and the range of motion the device can undergo.

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Body Workspace of Quadruped Walking Robot and its Applicability in Legged Locomotion

Journal of Intelligent & Robotic Systems ◽

10.1007/s10846-012-9670-0 ◽

2012 ◽

Vol 67 (3-4) ◽

pp. 271-284 ◽

Cited By ~ 7

Author(s):

Vo-Gia Loc ◽

Ig Mo Koo ◽

Duc Trong Tran ◽

Sangdoek Park ◽

Hyungpil Moon ◽

...

Keyword(s):

Legged Locomotion ◽

Walking Robot ◽

Quadruped Walking Robot

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M Optimized Multi Virtual Gravity

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.214.903 ◽

2012 ◽

Vol 214 ◽

pp. 903-908

Author(s):

Li Peng Yuan ◽

Li Ming Yuan ◽

Hong Ying Lu

Keyword(s):

Passive Control ◽

Legged Locomotion ◽

Metabolic Energy ◽

Walking Robot ◽

Control Laws ◽

Gait Patterns ◽

Walking Gait ◽

Computer Optimization ◽

Large Animals ◽

Metabolic Energy Expenditure

A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, we just consider the walking gait patterns. And we presented a hybrid model for a passive 2D walker with knees and point feet. The dynamics of this model were fully derived analytically. We have also proposed optimized virtual passive control laws This is also a simple and effective gait-generation method based on this kneed walker model, which imitates the energy and torque behaviors in every walking cycle. Following the proposed method, we use computer optimization to find which gaits are indeed energetically optimal for this model. We prove some walking rules maybe true by the results of simulations and experiments on the existing walking robot.

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