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.

A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution

2019 ◽  
Vol 16 (4) ◽  
pp. 621-632 ◽  
Author(s):  
Teng Chen ◽  
Xiaobo Sun ◽  
Ze Xu ◽  
Yibin Li ◽  
Xuewen Rong ◽  
...  
Keyword(s):  
Control Method ◽  
Quadruped Robot ◽  
Force Distribution ◽  
Foot Force

scholarly journals Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Liang Zhang ◽  
Yaguang Zhu ◽  
Feifei Zhang ◽  
Shuangjie Zhou
Keyword(s):  
Position Control ◽  
Body Position ◽  
Control Process ◽  
The Body ◽  
Posture Control ◽  
Effective Control ◽  
Adjustment Process ◽  
Multilegged Walking Robot ◽  
Posture Adjustment ◽  
Robot Platform

Posture-position control is the fundamental technology among multilegged robots as it is hard to get an effective control on rough terrain. These robots need to constantly adjust the position-posture of its body to move stalely and flexibly. However, the actual footholds of the robot constantly changing cause serious errors during the position-posture control process because their foot-ends are basically in nonpoint contact with the ground. Therefore, a position-posture control algorithm for multilegged robots based on kinematic correction is proposed in this paper. Position-posture adjustment is divided into two independent motion processes: robot body position adjustment and posture adjustment. First, for the two separate adjustment processes, the positions of the footholds relative to the body are obtained and their positions relative to the body get through motion synthesis. Then, according to the modified inverse kinematics solution, the joint angles of the robot are worked out. Unlike the traditional complex closed-loop position-posture control of the robot, the algorithm proposed in this paper can achieve the purpose of reducing errors in the position-posture adjustment process of the leg-foot robot through a simple and general kinematic modification. Finally, this method is applied in the motion control of a bionic hexapod robot platform with a hemispherical foot-end. A comparison experiment of linear position-posture change on the flat ground shows that this method can reduce the attitude errors, especially the heading error reduced by 55.46%.

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.

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

scholarly journals Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Martin Udengaard ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Optimization Method ◽  
Contact Angles ◽  
Design Guidelines ◽  
Rough Terrain ◽  
Uneven Terrain ◽  
Omnidirectional Mobile Robot ◽  
Subsystem Design ◽  
And Control

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and control of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. The use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.

Force-Position Hybrid Control of a New Parallel Hexapod Robot for Drilling Holes on Fuselage Surface

2013 ◽  
Author(s):  
Xianchao Zhao ◽  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Parallel Mechanism ◽  
Control Method ◽  
Hybrid Control ◽  
Control Mode ◽  
Work Status ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Robot Performance

In this paper, a new kind of 6-legged robot for drilling holes on the aircraft surface is presented. Each leg of the robot is a parallel mechanism with 3 degree of freedoms thus the robot includes totally 18 motors. Due to different work status, the control modes of these motors are also different and thus the force-position hybrid control method is applied. The kinematic and dynamic model is briefly introduced. Then the robot gait is discussed. After that hybrid control method is introduced: first the control mode of each motor should be determined, then the position or force control curves should be calculated. In the end of this paper, both virtual and real prototype of this robot is showed and the experiment result showed that the hybrid control method can significantly improve the robot performance.

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