scholarly journals Adaptive Locomotion Control of a Hexapod Robot via Bio-Inspired Learning

2021 ◽  
Vol 15 ◽  
Author(s):  
Wenjuan Ouyang ◽  
Haozhen Chi ◽  
Jiangnan Pang ◽  
Wenyu Liang ◽  
Qinyuan Ren

In this paper, an adaptive locomotion control approach for a hexapod robot is proposed. Inspired from biological neuro control systems, a 3D two-layer artificial center pattern generator (CPG) network is adopted to generate the locomotion of the robot. The first layer of the CPG is responsible for generating several basic locomotion patterns and the functional configuration of this layer is determined through kinematics analysis. The second layer of the CPG controls the limb behavior of the robot to adapt to environment change in a specific locomotion pattern. To enable the adaptability of the limb behavior controller, a reinforcement learning (RL)-based approach is employed to tune the CPG parameters. Owing to symmetrical structure of the robot, only two parameters need to be learned iteratively. Thus, the proposed approach can be used in practice. Finally, both simulations and experiments are conducted to verify the effectiveness of the proposed control approach.

Author(s):  
Yue Zhao ◽  
Feng Gao ◽  
Qiao Sun ◽  
Yunpeng Yin

AbstractLegged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.


Author(s):  
Jun Zhao ◽  
Hugang Han ◽  
◽  

Although the Takagi–Sugeno fuzzy model is effective for representing the dynamics of a plant to be controlled, two main questions arise when using it just as other models: 1) how to deal with the gap, which is referred to as uncertainty in this study, between the model and the concerned plant, and how to estimate the state information when it cannot be obtained directly, especially with the existence of uncertainty; 2) how to design a controller that guarantees a stable control system where only the estimated state is available and an uncertainty exists. While the existing studies cannot effectively observe the state and the resulting control systems can only be managed to be uniformly stable, this study first presents a state observer capable of precisely estimating the state regardless of the existence of uncertainty. Then, based on the state observer, an uncertainty observer is derived, which can track the trajectory of uncertainty whenever it occurs in a real system. Finally, a controller based on both observers is presented, which guarantees the asymptotic stability of the resulting control system.


2021 ◽  
Author(s):  
Paolo Arena ◽  
Angelo Giuseppe Spinosa ◽  
Giuseppe Sutera ◽  
Luca Patane

Author(s):  
Tyler J. Grimm ◽  
Amit B. Deshpande ◽  
Laine Mears ◽  
Jianxun Hu

Abstract Electrically-assisted manufacturing refers to the direct application of electrical current to a workpiece during a manufacturing process. This assistance results in several benefits such as flow stress reduction, increased elongation, reduced springback, increased diffusion, and increased precipitation control. These effects are also associated with traditional thermal assistance. However, for over half a decade it has been argued whether or not these observed effects are due to electroplasticity, a term which describes effects that cannot be fully explained through resistive heating. Several theories have been proposed as to the mechanism responsible for these purported athermal effects. Conflicting results within literature have enabled this debate over electroplasticity since its discovery in the mid 20th century. While the effects of electrically-assisted manufacturing are clearly characterized throughout literature, there is a lack of research related to control systems which may be used to take advantage of its effects. Typically, control systems are developed using an empirical approach, requiring extensive testing in order to fully characterize the stress-strain behavior at all conditions. Additionally, current research has primarily focused on reducing flow stresses during electrically-assisted processes without regard for the strength of the material subsequent to forming. Therefore, there is a strong need for a control system which can quickly be deployed for new materials and does not significantly reduce the subsequent strength of the material. Herein, a novel control approach is developed in which electrical pulses are triggered by a predetermined stress level. This stress value would be set according to the manufacturer’s stamping die strength. Once the material reaches this stress value, current is deployed until a minimum stress level is reached. At that point, the electricity is turned off and the material allowed to cool; at that stage the stress begins to elevate and the cycle continues. This approach does not require extensive pre-testing and is robust to a range of strain rate. This type of implementation can also be adapted to different levels of capability. For example, since the current is controlled by force and not by time, a low-current power supply will stay on for each pulse longer than a power supply with higher capabilities; however, each will achieve a similar effect. This study investigates the effect of several different minimum stress levels and strain rates. The strain rates chosen are relatively similar to common stamping process. This system was experimentally tested using 1018 CR steel. This control approach was found to be a successful method of maintaining a desired stress level.


Author(s):  
Sujet Phodapol ◽  
Thirawat Chuthong ◽  
Binggwong Leung ◽  
Arthicha Srisuchinnawong ◽  
Poramate Manoonpong ◽  
...  

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