scholarly journals Zigzag Gait Planning of n Quadruped Walking Robot Using Geometric Search Method

2002 ◽  
Vol 8 (2) ◽  
pp. 142-150
Keyword(s):  
Search Method ◽  
Walking Robot ◽  
Gait Planning ◽  
Quadruped Walking Robot ◽  
Geometric Search

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 48 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Forward And Inverse Kinematics ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

An aperiodic Z type spinning gait planning method for a quadruped walking robot

1995 ◽  
Vol 2 (2) ◽  
pp. 163-173 ◽  
Author(s):  
Kyung-Min Jeong ◽  
Jun-Ho Oh
Keyword(s):  
Planning Method ◽  
Walking Robot ◽  
Gait Planning ◽  
Quadruped Walking Robot

scholarly journals A novel human-carrying quadruped walking robot

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141771659 ◽  
Author(s):  
Lingfeng Sang ◽  
Hongbo Wang ◽  
Hongnian Yu ◽  
Luige Vladareanu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Carrying Capacity ◽  
Parallel Mechanism ◽  
Position Control ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Universal Joint ◽  
Gait Planning ◽  
Quadruped Walking Robot

This article adopts a 2-UPS+UP (U, P, and S are universal joint, the prismatic joint, and sphere joint, respectively) parallel mechanism as the leg mechanism of the quadruped walking robot based on the bionic concept and the motion capacity of the leg mechanism. The article investigates the kinematics (including the leg mechanism and the whole mechanism), gait planning, control, and experiment in detail. The following tasks are conducted: (1) designing the whole mechanism and developing the kinematics equations for both the leg mechanism and the whole mechanism; (2) planning the trotting gait and designing the foot trajectory based on the robot characteristics and conducting the kinematics analysis; (3) building the control system of the robot using self-developed controllers and drivers and studying the compound position control strategy; and (4) conducting the experiments for validating the controller, the compound position control strategy, the trotting pace, carrying capacity, and human-carrying walking. The results confirm that the proposed human-carrying walking robot has good performance and it is also verified that the controller and the compound position control strategy are suitable.

Design and Analysis of the Quadruped Walking Robot Based on 3-RPS Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 201-205
Author(s):  
Hong Bo Wang ◽  
Yun Wang ◽  
Ling Feng Sang ◽  
Qi Fang Gu ◽  
Yong Fei Feng
Keyword(s):  
Parallel Mechanism ◽  
Theoretical Foundation ◽  
Virtual Organization ◽  
The Elderly ◽  
Search Method ◽  
Optimum Size ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
The Disabled ◽  
Parallel Leg Mechanism

Based on the importance of the robot for the elderly and the disabled, a quadruped walking robot using 3-RPS parallel mechanism as the basic leg mechanism is proposed. The structure of the basic leg is described, and the whole structure of the quadruped walking robot is formed. Then taking the workspace of the basic leg as the standard, the optimum size parameters of the upper platform and the lower platform of the based leg are achieved. Meanwhile the workspace of the basic leg is obtained by the anti-solution search method. Taking the basic leg as analysis object and applying the virtual organization method, the kinematic expression is got. All of these analyses lay a theoretical foundation for the further study on the quadruped walking robot with parallel leg mechanism.

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

2018 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Uneven Terrain ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

Discontinuous zigzag gait planning of a quadruped walking robot with a waist-joint

2007 ◽  
Vol 21 (1-2) ◽  
pp. 143-164 ◽  
Author(s):  
Sehoon Park ◽  
Yun-Jung Lee
Keyword(s):  
Walking Robot ◽  
Gait Planning ◽  
Quadruped Walking Robot
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