Parametric Foot Trajectory Planning for a Hexapod Robot

2014 ◽  
Vol 513-517 ◽  
pp. 3868-3873
Author(s):  
Man Hong Li ◽  
Ming Lu Zhang ◽  
Jian Hua Zhang
Keyword(s):  
Trajectory Planning ◽  
Virtual Prototype ◽  
Planning Method ◽  
Hexapod Robot ◽  
Foot Trajectory

Foot trajectory is a significant factor which affects the movenent performances of the hexapod robot directly. In order to plan efficient and effective foot trajectories for different terrains, the kinematics of the robot is analyzed and two kinds of parametric foot trajectories for different terrains are proposed to achieve foot transfer between the footholds efficiently in this paper. To verify the effectiveness of the parametric foot trajectory planning method, different simulations tailored for a virtual prototype have been conducted. The results certify that the robot can plan an appropriate parametric foot trajectory for differnt terrains efficiently only by setting key parameters and this trajectory can be executed easily by revolving joints harmonically.

scholarly journals A New Foot Trajectory Planning Method for Legged Robots and Its Application in Hexapod Robots

2021 ◽  
Vol 11 (19) ◽  
pp. 9217
Author(s):  
Haichuang Xia ◽  
Xiaoping Zhang ◽  
Hong Zhang
Keyword(s):  
Trajectory Planning ◽  
Joint Angle ◽  
Joint Space ◽  
Planning Method ◽  
Legged Robots ◽  
Transfer Phase ◽  
Hexapod Robot ◽  
Angle Function ◽  
Support Phase ◽  
Foot Trajectory

Compared with wheeled and tracked robots, legged robots have better movement ability and are more suitable for the exploration of unknown environments. In order to further improve the adaptability of legged robots to complex terrains such as slopes, obstacle environments, and so on, this paper makes a new design of the legged robot’s foot sensing structure that can successfully provide accurate feedback of the landing information. Based on this information, a new foot trajectory planning method named three-element trajectory determination method is proposed. For each leg in one movement period, the three elements are the start point in the support phase, the end point in the support phase, and the joint angle changes in the transfer phase where the first two elements are used to control the height, distance, and direction of the movement, and the third element is used make decisions during the lifting process of the leg. For the support phase, the trajectory is described in Cartesian space, and a spline of linear function with parabolic blends is used. For the transfer phase, the trajectory is described in joint-space, and the joint angle function is designed as the superposition of the joint angle reverse-chronological function and the interpolation function which is obtained based on joint angle changes. As an important legged robot, a hexapod robot that we designed by ourselves with triangle gait is chosen to test the proposed foot trajectory planning method. Experiments show that, while the foot’s landing information can be read and based on the three-element trajectory planning method, the hexapod robot can achieve stable movement even in very complex scenes. Although the experiments are performed on a hexapod robot, our method is applicable to all forms of legged robots.

scholarly journals Trajectory Planning Method for Mixed Vehicles Considering Traffic Stability and Fuel Consumption at the Signalized Intersection

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Shan Fang ◽  
Lan Yang ◽  
Tianqi Wang ◽  
Shoucai Jing
Keyword(s):  
Fuel Consumption ◽  
Trajectory Planning ◽  
Signalized Intersections ◽  
Planning Method ◽  
Signalized Intersection ◽  
Driver Model ◽  
Connected Vehicles ◽  
Connected Vehicle ◽  
Traffic Lights ◽  
Trigonometric Model

Traffic lights force vehicles to stop frequently at signalized intersections, which leads to excessive fuel consumption, higher emissions, and travel delays. To address these issues, this study develops a trajectory planning method for mixed vehicles at signalized intersections. First, we use the intelligent driver car-following model to analyze the string stability of traffic flow upstream of the intersection. Second, we propose a mixed-vehicle trajectory planning method based on a trigonometric model that considers prefixed traffic signals. The proposed method employs the proportional-integral-derivative (PID) model controller to simulate the trajectory when connected vehicles (equipped with internet access) follow the optimal advisory speed. Essentially, only connected vehicle trajectories need to be controlled because normal vehicles simply follow the connected vehicles according to the Intelligent Driver Model (IDM). The IDM model aims to minimize traffic oscillation and ensure that all vehicles pass the signalized intersection without stopping. The results of a MATLAB simulation indicate that the proposed method can reduce fuel consumption and NOx, HC, CO2, and CO concentrations by 17%, 22.8%, 17.8%, 17%, and 16.9% respectively when the connected vehicle market penetration is 50 percent.

A trajectory planning method of vertebral plate grinding of spine surgery robot

2021 ◽  
Author(s):  
Heqiang Tian ◽  
Jingbo Pan ◽  
Yu Gao ◽  
Bin Tian ◽  
Debao Meng ◽  
...  
Keyword(s):  
Spine Surgery ◽  
Trajectory Planning ◽  
Planning Method
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