1A1-R03 Trajectory Generation and Control of Small-Sized Bipedal Walker(Walking Robot)

This work is intended to give an overview of technologies, developed from an artificial intelligence standpoint, devised to face the different planning and control problems involved in trajectory generation for mobile robots. The purpose of this analysis is to give a current context to present the Evolutionary Robotics approach to the problem, which is now being considered as a feasible methodology to develop mobile robots for solving real life problems. This chapter also show the authors’ experiences on related case studies, which are briefly described (a fuzzy logic based path planner for a terrestrial mobile robot, and a knowledge-based system for desired trajectory generation in the Geosub underwater autonomous vehicle). The development of different behaviours within a path generator, built with Evolutionary Robotics concepts, is tested in a Khepera© robot and analyzed in detail. Finally, behaviour coordination based on the artificial immune system metaphor is evaluated for the same application.

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Integrated Planning and Control for Collision-free Trajectory Generation in 3D Environment with Obstacles

2019 19th International Conference on Control, Automation and Systems (ICCAS) ◽

10.23919/iccas47443.2019.8971490 ◽

2019 ◽

Cited By ~ 2

Author(s):

Xiaoxue Zhang ◽

Jun Ma ◽

Sunan Huang ◽

Zilong Cheng ◽

Tong Heng Lee

Keyword(s):

Trajectory Generation ◽

Integrated Planning ◽

Planning And Control ◽

3D Environment ◽

And Control

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Development and Control of Biped Walking Robot Using PI Control

Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - Lecture Notes in Electrical Engineering ◽

10.1007/978-981-13-3708-6_25 ◽

2019 ◽

pp. 299-313

Author(s):

K. H. Tan ◽

N. S. M. Nor ◽

M. Z. Md Zain

Keyword(s):

Pi Control ◽

Walking Robot ◽

Biped Walking ◽

Biped Walking Robot ◽

And Control

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Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles

International Journal of Advanced Robotic Systems ◽

10.1177/1729881419891329 ◽

2019 ◽

Vol 16 (6) ◽

pp. 172988141989132

Author(s):

Ivan Chavdarov ◽

Bozhidar Naydenov

Keyword(s):

Control System ◽

Walking Robots ◽

Energy Losses ◽

Simple Design ◽

Walking Robot ◽

Minimum Number ◽

And Control ◽

Original Concept ◽

Dimensional Optimization

The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors. Described are basic geometric and kinematic dependencies related to its movement. It is proposed optimization of basic dimensions of the robot in order to reduce energy losses when moving on flat terrain. Developed and produced is a 3-D printed prototype of the robot. Simulation and experiments for overcoming an obstacle are presented. Trajectories and instantaneous velocities centers of links from the robot are experimentally determined. The phases of walking and the stages of overcoming an obstacle are described. The theoretical and experimental results are compared. The suggested dimensional optimization approaches to reduce energy loss and experimental determination of the instant center of rotation are also applicable to other walking robots.

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Real-Time Online Feet Trajectory Generation Method for Hexapod Robot

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.220-221.148 ◽

2015 ◽

Vol 220-221 ◽

pp. 148-152

Author(s):

Tomas Luneckas ◽

Mindaugas Luneckas ◽

Dainius Udris

Keyword(s):

Real Time ◽

Degrees Of Freedom ◽

Trajectory Generation ◽

Electromechanical System ◽

Hexapod Robot ◽

Walking Robot

Hexapod walking robot is a complex electromechanical system with many degrees of freedom. Six legs ensure robot’s stability as at least three legs are always on the ground but require more effort in order to synchronize them for a successful locomotion. In this paper, we present a method that allows calculate feet trajectories in real-time and online. This method enables to select different gaits and their parameters.

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Trajectory Generation for the Leg of the Six-Legged Underwater Robot Over Obstacle in the Structured Terrain

Volume 9: Mechanical Systems and Control, Parts A, B, and C ◽

10.1115/imece2007-41679 ◽

2007 ◽

Author(s):

Feng Wang ◽

Linyi Gu ◽

Bo Zhou ◽

Ying Chen

Keyword(s):

Power Consumption ◽

Trajectory Generation ◽

Great Influence ◽

Legged Locomotion ◽

Underwater Robot ◽

Crossing Over ◽

Walking Robot ◽

Matlab Simulation ◽

Offshore Area ◽

Ideal Tool

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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