scholarly journals CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3705 ◽  
Author(s):  
Long Bai ◽  
Hao Hu ◽  
Xiaohong Chen ◽  
Yuanxi Sun ◽  
Chaoyang Ma ◽  
...  
Keyword(s):  
Hexapod Robot ◽  
Gait Transition ◽  
Gait Generation ◽  
Transition Functions ◽  
Stable Gait ◽  
Tripod Gait ◽  
Switching Method ◽  
Hopf Oscillator ◽  
Simple Parameter ◽  
Gait Transitions

This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the curved leg and instability during the gait transitions are analyzed. Then, a modified Hopf oscillator is applied in the CPG control, which can realize multiple gaits by adjusting a simple parameter. In addition, a smooth gait switching method is also proposed via smooth gait transition functions and gait planning. Tripod gait, quadruped gait, and wave gait are planned for the hexapod robot to achieve quick and stable gait transitions smoothly and continuously. MATLAB and ADAMS simulations and corresponding practical experiments are conducted. The results show that the proposed method can achieve smooth and continuous mutual gait transitions, which proves the effectiveness of the proposed CPG-based hexapod robot control.

scholarly journals Fault-Tolerant Tripod Gait Planning and Verification of a Hexapod Robot

2020 ◽  
Vol 10 (8) ◽  
pp. 2959
Author(s):  
Yiqun Liu ◽  
Xuanxia Fan ◽  
Liang Ding ◽  
Jianfeng Wang ◽  
Tao Liu ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Fault Tolerant ◽  
Kinematic Model ◽  
Stability Margin ◽  
The Body ◽  
Hexapod Robot ◽  
Gait Planning ◽  
Phase Sequence ◽  
Gait Phase ◽  
Tripod Gait

In some hazardous or inaccessible applications, such as earthquake rescue, as a substitute for mankind, robots are expected to perform missions reliably. Unfortunately, the failure of components is difficult to avoid due to the complexity of robot composition and the interference of the environment. Thus, improving the reliability of robots is a crucial problem. The hexapod robot has redundant degrees of freedom due to its multiple joints, making it possible to tolerate the failure of one leg. In this paper, the Fault-Tolerant Tripod (F-TT) gait dealing with the failure of one leg is researched. The Denavit–Hartenberg (D-H) method is exploited to establish a kinematic model for the hexapod robot, the Jacobian matrix is analyzed, and it is proved that the body can be controlled when three legs are supported. Then, an F-TT gait phase sequence planning method based on a stability margin is established, and a method to improve stability is proposed. The trajectory for the center of gravity (COG) and foot is studied. Finally, a simulation model and prototype robot experiments are developed, and the effectiveness of the proposed method is verified.

Footstep Planning of Tripod Gait for Teleoperation of Hexapod robot by Anytime Algorithm

2017 ◽  
Vol 2017 (0) ◽  
pp. 1A1-B08
Author(s):  
Yuya ATARASHI ◽  
Daiki KOBAYASHI ◽  
Takashi NARIMATSU ◽  
Yuki UCHIBORI ◽  
Atsushi UENO ◽  
...  
Keyword(s):  
Hexapod Robot ◽  
Anytime Algorithm ◽  
Tripod Gait

Dynamic Modeling and Control of the Hexapod Robot Using Matlab SimMechanics

2018 ◽  
Author(s):  
Sameh I. Beaber ◽  
Abdelrahman S. Zaghloul ◽  
Mohamed A. Kamel ◽  
Wessam M. Hussein
Keyword(s):  
Dynamic Modeling ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Modeling And Control ◽  
Robot Trajectory ◽  
Tripod Gait ◽  
Inverse Kinematic Analysis ◽  
And Control

This paper presents a detailed dynamic modeling of phantom ax12 six-legged robot using Matlab SimMechanics™. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot. Trajectory of each leg is also considered for both swing and support phases when the robot walks with tripod gait in a straight path. Newton-Euler formulation has been utilized to determine the joint’s torque. These results were verified using SimMechanics™. Also, feet force distributions of the hexpaod are estimated via SimMechanics™, which is necessary for its control.

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