scholarly journals Structural Design, Simulation and Experiment of Quadruped Robot

2021 ◽  
Vol 11 (22) ◽  
pp. 10705
Author(s):  
Yunde Shi ◽  
Shilin Li ◽  
Mingqiu Guo ◽  
Yuan Yang ◽  
Dan Xia ◽  
...  
Keyword(s):  
Attitude Control ◽  
Inverse Kinematic ◽  
Quadruped Robot ◽  
Contact Modeling ◽  
Gait Planning ◽  
Quadruped Robots ◽  
Pendulum Equation ◽  
Physical Prototype ◽  
Simulation And Experiment ◽  
Bionic Structure

This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements and smooth motions. Furthermore, the kinematic and inverse kinematic solutions based on the DH method are explored to lay the foundation for the gait algorithm. Afterward, a classical compound pendulum equation is applied as the foot-end trajectory and inverse kinematic solutions are combined to complete the gait planning. With appropriate foot–ground contact modeling, MATLAB and ADAMS are used to simulate the dynamic behavior and the diagonal trot gait of the quadruped robot. Finally, the physical prototype is constructed, designed and debugged, and its performance is measured through real-world experiments. Results show that the quadruped robot is able to balance itself during trot motion, for both its pitch and roll attitude. The goal of this work is to provide an affordable yet comprehensive platform for novice researchers in the field to study the dynamics, contact modeling, gait planning and attitude control of quadruped robots.

The Workspace Analysis of Quadruped Robot Regarded As a Parallel Manipulator Under Different Configurations

2018 ◽  
Author(s):  
Nan Ma ◽  
Jingjun Yu
Keyword(s):  
Parallel Manipulator ◽  
First Generation ◽  
Inverse Kinematic ◽  
Quadruped Robot ◽  
Structure Characteristic ◽  
Quadruped Robots ◽  
Workspace Analysis ◽  
Capability Analysis ◽  
Static Performance ◽  
The Given

The quadruped mammal is one kind of animal that has the excellent motion performances (i.e. walking stability, running speed and body flexibility). Lots of attentions have focused on imitating structure/characteristic of these quadruped animals to promote the development in quadruped robot in recent years. Most of the researches are concentrated on the motion capability analysis of the quadruped robots, However, the workspace variation, which is an important characteristic to scale the static manipulation ability when the quadruped is standing with the four feet fixed on the ground, is ignored by the most of researchers. In this paper, the workspace variation of quadruped robot, when regarded as a parallel manipulator with for foot fixed on ground as a case, is studied using the first generation of MANA robot to explore feet configuration on the influence of workspace variation. This quadruped robot is designed based on the mammal skeleton, which can realize the motion of robot body by alternating the motions in four legs. Firstly, the performance indicators of the MANA are given. Then, the MANA robot is regarded as a parallel platform with four feet fixed on the ground, thus, the corresponding inverse kinematic equations are used to calculate the workspace under the given configuration. After that, variables (i.e. positions of the feet and body posture) are defined to analyze the influence on the workspace variation. At last, four cases are studied to research the overall influence of foot configurations on the workspace variation. The workspace variation analysis of the quadruped can help to optimize the feet configuration for the getting the better manipulator ability, which expands the static performance for quadruped robot.

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 Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097634
Author(s):  
Huan Tran Thien ◽  
Cao Van Kien ◽  
Ho Pham Huy Anh
Keyword(s):  
Inverse Kinematics ◽  
Biped Robot ◽  
Step Length ◽  
Jaya Algorithm ◽  
Kinetic Chain ◽  
Biped Walking ◽  
Gait Planning ◽  
Multi Objective ◽  
Simulation And Experiment ◽  
Stable Gait

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

Analysis of the Grasp Planning Method for Manipulation of BH-4 Dextrous Hand

2007 ◽  
Author(s):  
Weidong Guo ◽  
Mileta M. Tomovic ◽  
Jiting Li
Keyword(s):  
Coordinate System ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Experimental Result ◽  
Robot Arm ◽  
Grasp Planning ◽  
Physical Prototype ◽  
Dexterous Hand ◽  
Dextrous Hand ◽  
Kinematic Solution

The paper presents method for planning robotic dexterous hand grasping task using example of the Beihang University’s BH-4 dexterous hand. The grasping planning method is devised through modeling and simulation and experimentally verified using physical prototype. The paper presents the method for forward and inverse kinematic solutions of the BH-4 robot 4-DOF finger, including transformation matrix between the palm coordinate system and the finger base coordinate system. In addition, the method of the idiographic manipulation is presented using example of ball grasping. The simulation results and physical experiment verify that the inverse kinematic solution is correct, and kinematic grasping and operating planning is valid and feasible. Finally, the experiment with the complex system integrated robot arm with dexterous hand is carried out. Experimental result shows that the more complicated grasping task can be done by a dexterous hand integrated in the robot arm system.

Research on Attitude Control of Spacecraft Based on ADRC

2011 ◽  
Vol 383-390 ◽  
pp. 358-365 ◽  
Author(s):  
Fu Lin Teng ◽  
Hong Yu Ge ◽  
Hong Sheng Li ◽  
Jian Hua Zhang
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
High Performance ◽  
Control Technology ◽  
Attitude Control System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Simulation And Experiment ◽  
Attitude Controller ◽  
Very High

Modern spacecraft demands from an attitude control system very high performance and accuracy, and many new features, such as disturbance rejection capability. The recently developed active disturbance rejection control technology is applied to the attitude control of spacecraft subject to disturbances and parametric uncertainties. Simulation and experiment show significant advantages of the proposed attitude controller over the controller resulting from conventional PID approach.

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