Java Simulator for Quadruped Walking Robot

With advances in science and technology, the interest to study the animals walking has developed the demand for building the legged robots. Physics-based simulation and control of quadruped locomotion is difficult because quadrupeds are unstable, under actuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning). The application named JQuadRobot is developed in Java and Java3D API. A Graphical User Interface and a simulator for a custom quadruped leg's robot and the main features of the interface are presented in this paper. This application is developed in Java and is essential in a development motion for legged robot. The friendly interface, allows any user to define and test movements for this robot. The cross-platform capability was the first reason to choose Java language for developing this application.

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Motion planning and implementation for the self-recovery of an overturned multi-legged robot

Robotica ◽

10.1017/s0263574715001009 ◽

2015 ◽

Vol 35 (5) ◽

pp. 1107-1120 ◽

Cited By ~ 7

Author(s):

Saijin Peng ◽

Xilun Ding ◽

Fan Yang ◽

Kun Xu

Keyword(s):

Motion Planning ◽

The Body ◽

The Self ◽

Legged Robots ◽

Ground Reaction Forces ◽

Robot Design ◽

Legged Robot ◽

Reaction Forces ◽

Recovery Approach ◽

And Control

SUMMARYThis paper first presents a method of motion planning and implementation for the self-recovery of an overturned six-legged robot. Previous studies aimed at the static and dynamic stabilization of robots for preventing them from overturning. However, no one can guarantee that an overturn accident will not occur during various applications of robots. Therefore, the problems involving overturning should be considered and solved during robot design and control. The design inspirations of multi-legged robots come from nature, especially insects and mammals. In addition, the self-recovery approach of an insect could also be imitated by robots. In this paper, such a self-recovery mechanism is reported. The inertial forces of the dangling legs are used to bias some legs to touch the ground, and the ground reaction forces exerted on the feet of landing legs are achieved to support and push the body to enable recovery without additional help. By employing the mechanism, a self-recovery approach named SSR (Sidewise-Self-Recovery) is presented and applied to multi-legged robots. Experiments of NOROS are performed to validate the effectiveness of the self-recovery motions. The results show that the SSR is a suitable method for multi-legged robots and that the hemisphere shell of robots can help them to perform self-recovery.

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Design and Control of 7-DOF Omni-directional Hexapod Robot

Open Computer Science ◽

10.1515/comp-2020-0189 ◽

2020 ◽

Vol 11 (1) ◽

pp. 80-89

Author(s):

Marek Žák ◽

Jaroslav Rozman ◽

František V. Zbořil

Keyword(s):

Degrees Of Freedom ◽

Travel Speed ◽

Legged Robots ◽

Movement Speed ◽

Legged Robot ◽

Hexapod Robot ◽

Unique Combination ◽

Two Degrees Of Freedom ◽

And Control ◽

Omnidirectional Wheels

AbstractLegged robots have great potential to travel across various types of terrain. Their many degrees of freedom enable them to navigate through difficult terrains, narrow spaces or various obstacles and they can move even after losing a leg. However, legged robots mostly move quite slowly. This paper deals with the design and construction of an omni-directional seven degrees of freedom hexapod (i.e., six-legged) robot, which is equipped with omnidirectional wheels (two degrees of freedom are used, one for turning the wheel and one for the wheel itself) usable on flat terrain to increase travel speed and an additional coxa joint that makes the robot more robust when climbing inclined terrains. This unique combination of omnidirectional wheels and additional coxa joint makes the robot not only much faster but also more robust in rough terrains and allows the robot to ride inclined terrains up to 40 degrees and remain statically stable in slopes up to 50 degrees. The robot is controlled by a terrain adaptive movement controller which adjusts the movement speed and the gait of the robot according to terrain conditions.

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The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion

The International Journal of Robotics Research ◽

10.1177/0278364910390537 ◽

2011 ◽

Vol 30 (2) ◽

pp. 150-174 ◽

Cited By ~ 53

Author(s):

J. Zico Kolter ◽

Andrew Y Ng

Keyword(s):

Software Architecture ◽

Learning Algorithms ◽

Quadruped Robot ◽

Legged Robots ◽

Rapid Recovery ◽

Quadruped Locomotion ◽

Planning And Control ◽

Run Time ◽

And Control ◽

Wheeled Vehicles

Legged robots have the potential to navigate a wide variety of terrain that is inaccessible to wheeled vehicles. In this paper we consider the planning and control tasks of navigating a quadruped robot over challenging terrain, including terrain that it has not seen until run-time. We present a software architecture that makes use of both static and dynamic gaits, as well as specialized dynamic maneuvers, to accomplish this task. Throughout the paper we highlight two themes that have been central to our approach: (1) the prevalent use of learning algorithms, and (2) a focus on rapid recovery and replanning techniques; we present several novel methods and algorithms that we developed for the quadruped and that illustrate these two themes. We evaluate the performance of these different methods, and also present and discuss the performance of our system on the official Learning Locomotion tests.

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