scholarly journals Development of agricultural bionic four-legged robot: Effect of head movement adjustment on the stability of goats

2019 ◽  
Vol 12 (4) ◽  
pp. 10-15
Author(s):  
Fu Zhang ◽  
◽  
Yafei Wang ◽  
Shuai Teng ◽  
Limin Zheng ◽  
...  
Keyword(s):  
Head Movement ◽  
Legged Robot ◽  
The Stability

scholarly journals Whole-Body Motion Planning for a Six-Legged Robot Walking on Rugged Terrain

2019 ◽  
Vol 9 (24) ◽  
pp. 5284 ◽  
Author(s):  
Jie Chen ◽  
Fan Gao ◽  
Chao Huang ◽  
Jie Zhao
Keyword(s):  
Motion Planning ◽  
Spline Interpolation ◽  
Stability Margin ◽  
Joint Space ◽  
Body Motion ◽  
Whole Body ◽  
Legged Robot ◽  
Rugged Terrain ◽  
The Stability ◽  
The Moment

Whole-body motion planning is a key ability for legged robots, which allows for the generation of terrain adaptive behaviors and thereby improved mobility in complex environment. To this end, this paper addresses the issue of terrain geometry based whole-body motion planning for a six-legged robot over a rugged terrain. The whole-body planning is decomposed into two sub-tasks: leg support and swing. For leg support planning, the target pose of the robot torso in a walking step is first found by maximizing the stability margin at the moment of support-swing transition and matching the orientation of the support polygon formed by target footholds. Then, the torso and thereby the leg support trajectories are generated using cubic spline interpolation and transferred into joint space through inverse kinematics. In terms of leg swing planning, the trajectories in a walking step are generated by solving an optimal problem that satisfies three constraints and a bioinspired objective function. The proposed whole-body motion planning strategies are implemented with a simulation and a real-world six-legged robot, and the results show that stable and collision-free motions can be produced for the robot over rugged terrains.

A Study on the Stability and Load of the 4-Legged Robot on the Slope

2018 ◽  
Vol 2018.24 (0) ◽  
pp. OS0403
Author(s):  
Ryo OCHIAI ◽  
Kazutaka YOKOTA ◽  
Yusei SATO ◽  
Syuse OSHIMA ◽  
Hidemune WACHI ◽  
...  
Keyword(s):  
Legged Robot ◽  
The Stability

A Control Method of Four-Legged Robot Stable Walking with Diagonal Gait

2011 ◽  
Vol 148-149 ◽  
pp. 82-87
Author(s):  
Chang Hua Fan ◽  
Zhen Jiang ◽  
Bai Yu He
Keyword(s):  
Dynamic Equation ◽  
Stability Problem ◽  
Inverted Pendulum ◽  
Control Method ◽  
Flip Angle ◽  
Legged Robot ◽  
Motion Stability ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
The Stability

This paper proposes a kind of control method used to solve the stability problem of the trotted robot. Propose the concept of inside flip design four-footed robot and build a double inverted pendulum model. Establish dynamic equation to analyze the factors of affecting the motion stability. During walking, the center of gravity can maintain a proper vibration and have a maximum safety region of flip angle. Finally, use Adams to verify the control method.

Optimal turning gait of a six-legged robot using a GA-fuzzy approach

2000 ◽  
Vol 14 (3) ◽  
pp. 207-219 ◽  
Author(s):  
DILIP KUMAR PRATIHAR ◽  
KALYANMOY DEB ◽  
AMITABHA GHOSH
Keyword(s):  
Stability Margin ◽  
Static Stability ◽  
Legged Robot ◽  
Fuzzy Approach ◽  
Traditional Methods ◽  
Gait Generation ◽  
Minimum Number ◽  
Stable Gait ◽  
Multilegged Robot ◽  
The Stability

This paper describes a new method for generating the turning-gait of a six-legged robot using a combined genetic algorithm (GA)-Fuzzy approach. The main drawback of the traditional methods of gait generation is their high computational load. Thus, there is still a need for the development of a computationally tractable algorithm that can be implemented online to generate stable gait of a multilegged robot. In the proposed genetic-fuzzy system, the fuzzy logic controllers (FLCs) are used to generate the stable gait of a hexapod and a GA is used to improve the performance of the FLCs. The effectiveness of the proposed algorithm is tested on a number of turning-gait generation problems of a hexapod that involve translation as well as rotation of the vehicle. The hexapod will have to take a sharp circular turn (either clockwise or counter-clockwise) with minimum number of ground legs having the maximum average kinematic margin. Moreover, the stability margin should lie within a certain range to ensure static stability of the vehicle. Each leg of a six-legged robot is controlled by a separate FLC and the performance of the controllers is improved by using a GA. It is to be noted that the actual optimization is done off-line and the hexapod can use these optimized FLCs to navigate in real-world scenarios. As an FLC is computationally less expensive, the proposed algorithm will be faster compared with the traditional methods of gait-generation, which include both graphical as well as analytical methods. The GA-tuned FLCs are found to perform better than the author-defined FLCs.

Reaction forces identification of a quadruped robot with parallel-serial leg structure

2014 ◽  
Vol 229 (15) ◽  
pp. 2774-2787 ◽  
Author(s):  
Xinghua Tian ◽  
Feng Gao ◽  
Chenkun Qi ◽  
Xianbao Chen
Keyword(s):  
Degrees Of Freedom ◽  
Quadruped Robot ◽  
Legged Robot ◽  
Contact Phase ◽  
Hydraulic Actuators ◽  
Proposed Model ◽  
Cad Simulation ◽  
Reaction Forces ◽  
Chamber Model ◽  
The Stability

Interactions between feet and environment influence the stability and mobility of legged robot. This paper proposes a model to indirectly identify 3 degrees of freedom feet reaction forces for a quadruped robot with parallel-serial legs. The research platform is called Baby-Elephant: a heavy-duty four-legged robot designed for nuclear plant maintenance and disaster relief purposes. Each leg has three hydraulic actuators. With the pressure data from pump and hydraulic actuators, a double-chamber model with experimental derived friction is used to obtain the actuated force. The reaction forces model, including joint and foot forces, is simplified into an explicit function. Comparison between CAD simulation and analytical results shows the effectiveness of the model. A walking experiment with load cells proves the model is validate in practical application. The proposed model is used to identify the foot contact phase and the zero momentum point during crawling gait walking.

scholarly journals Creeping Gait Analysis and Simulation of a Quadruped Robot

2019 ◽  
Vol 14 (2) ◽  
pp. 93-106
Author(s):  
Firas A. Raheem ◽  
Murtadha Khudhair Flayyih
Keyword(s):  
Sequence Analysis ◽  
Gait Analysis ◽  
Inverse Kinematic ◽  
Quadruped Robot ◽  
Legged Robot ◽  
Stability Margins ◽  
Robot Locomotion ◽  
Quadruped Robots ◽  
Kinematic Models ◽  
The Stability

A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits:  creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.

scholarly journals Tetrapod Automaton in the Shamble’s Management with the Fish Eye Lens Pi Cam

2020 ◽  
Vol 8 (5) ◽  
pp. 3461-3464
Keyword(s):  
Integrated Circuits ◽  
Raspberry Pi ◽  
Human Intervention ◽  
Legged Robot ◽  
Future Technology ◽  
Image Capturing ◽  
Main Motive ◽  
Normal Lens ◽  
The Stability ◽  
Image Difference

Automation Is The Future Technology, Without This Most Of The Technologies Are Implausible. This Paper Is All About The Tetrapod Robot Which Is The Four Legged Robot That Could Be Used In The Shamble’s Management Application. This Robot Has Four Legs For Kinesis. The Motion Of The Legs Is Achieved By The Concept Of Inverse Kinematics. The Servo Motors Are Making The Bot To Drive. The Arduino UNO Is Used To Send Signals. It Has I 2C (Inter Integrated Circuits) Interface. It Has Two Signals. They Are Serial Clock Line Signal And Serial Data Line For Master Slave Communication. The Main Motive Of This Bot Is To Make It Walk Under The Disaster Areas Where Human Intervention Is Challenging. It Takes Live Images And Streams Video In The Disaster Areas. The Image Capturing And Video Streaming Is Achieved Using Raspberry Pi Fisheye Lens Camera Module. It Provides A Slight Image Difference In The Field Of View Compared To The Usage Of Normal Lens. The Resolution Of This Camera Is 5megapixels.The Advantage Of Using This Bot Is For Implementing It Under Impossible Human Intervention. It Moves In Any Bleak Surfaces Which The Maneuvered Robot Cannot Get The Stability. The Legged Robot Gets Its Stability Due To The Arrangement Of Legs With The Chassis Taking The Center Of Gravity Into Consideration.

scholarly journals INVERSE KINEMATICS AND PID CONTROLLER IMPLEMENTATION OF HEXAPOD ROBOT FOR WALL FOLLOWER NAVIGATION

2019 ◽  
Vol 2 (2) ◽  
pp. 57
Author(s):  
Riky Tri Yunardi ◽  
Arief Muchadin ◽  
Kurnia Latifa Priyanti ◽  
Deny Arifianto
Keyword(s):  
Pid Controller ◽  
Inverse Kinematics ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Barrier Detector ◽  
Leg Movement ◽  
Average Success Rate ◽  
The Stability ◽  
Proportional Derivative Controller ◽  
Wall Following

Wall following is one of the methods used in navigating the movement of robot applications. Because the robot moves along the wall, the ultrasonic sensor is used as a barrier detector capable of measuring the distance between the robot and the wall. The six-legged robot is a hexapod robot has six pieces of legs and each leg has three joints that are used to move. The leg movement is based on the inverse kinematics to obtain the angle value of each joint. Nevertheless, a six-legged robot requires stability in order to move smoothly while following the wall. In this work, a robot was developed using a proportional derivative controller to implemented on wall follower navigation. The PID controller is determined using analytic tuning to produce the controller parameters that are used to make the robot move straighten and keep the position against the wall. Overall, the application of inverse kinematics and PID control on the wall following robot navigation can improve the stability of the robot with a set point value of 8-16 cm on the wall length of 1.5 within 92–96 % of average success rate.

scholarly journals Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot

2015 ◽  
Vol 9 (1) ◽  
pp. 467-474 ◽  
Author(s):  
Sun Zhibo ◽  
Liu Jinhao ◽  
Yu Chunzhan ◽  
Kan Jiangming
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Kinematic Analysis ◽  
Control Method ◽  
Kinematic Model ◽  
Legged Robot ◽  
The Stability ◽  
Leveling Control

The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs. The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt fluctuations are decreased by 5 times.

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