Smooth and efficient walking motions and control for an 8-legged robot

1998 ◽  
Author(s):  
S. Galt
Keyword(s):  
Legged Robot ◽  
And Control

scholarly journals Vertical Jumping for Legged Robot Based on Quadratic Programming

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3679
Author(s):  
Dingkui Tian ◽  
Junyao Gao ◽  
Xuanyang Shi ◽  
Yizhou Lu ◽  
Chuzhao Liu
Keyword(s):  
Quadratic Programming ◽  
Stance Phase ◽  
Center Of Mass ◽  
Maximum Error ◽  
Legged Robot ◽  
Flight Phase ◽  
Programming Framework ◽  
Vertical Jumping ◽  
Control Schemes ◽  
And Control

The highly dynamic legged jumping motion is a challenging research topic because of the lack of established control schemes that handle over-constrained control objectives well in the stance phase, which are coupled and affect each other, and control robot’s posture in the flight phase, in which the robot is underactuated owing to the foot leaving the ground. This paper introduces an approach of realizing the cyclic vertical jumping motion of a planar simplified legged robot that formulates the jump problem within a quadratic-programming (QP)-based framework. Unlike prior works, which have added different weights in front of control tasks to express the relative hierarchy of tasks, in our framework, the hierarchical quadratic programming (HQP) control strategy is used to guarantee the strict prioritization of the center of mass (CoM) in the stance phase while split dynamic equations are incorporated into the unified quadratic-programming framework to restrict the robot’s posture to be near a desired constant value in the flight phase. The controller is tested in two simulation environments with and without the flight phase controller, the results validate the flight phase controller, with the HQP controller having a maximum error of the CoM in the x direction and y direction of 0.47 and 0.82 cm and thus enabling the strict prioritization of the CoM.

scholarly journals Design, Simulation, and Preliminary Validation of a Four-Legged Robot

Machines ◽  
2020 ◽  
Vol 8 (4) ◽  
pp. 82
Author(s):  
Stefano Rodinò ◽  
Elio Matteo Curcio ◽  
Antonio di Bella ◽  
Mattia Persampieri ◽  
Michele Funaro ◽  
...  
Keyword(s):  
Design Process ◽  
Legged Robot ◽  
Proof Of Concept ◽  
User Friendliness ◽  
Autonomous Operation ◽  
Preliminary Validation ◽  
Dynamic Performances ◽  
Definition Of ◽  
And Control ◽  
Masters Students

This paper outlines the design process for achieving a novel four-legged robot for exploration and rescue tasks. This application is also intended as an educational mean for masters’ students aiming at gaining skills in designing and operating a complex mechatronic system. The design process starts with an analysis of the desired locomotion and definition of the main requirements and constraints. Then, the paper focuses on the key design challenges, including analytical/numerical modeling and simulations of kinematic and dynamic performances. Specific attention is addressed to the manufacturing of a proof-of-concept prototype, including mechanical and control hardware, as well as the development of the needed software for an autonomous operation. Preliminary tests were carried out, to validate the main features required by the final prototype, to prove its feasibility and user-friendliness, as well as the effectiveness of this complex mechatronic design task for successfully engaging students towards learning complex theoretical, numerical, and practical skills.

Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot

2018 ◽  
Vol 3 (2) ◽  
pp. 987-993 ◽  
Author(s):  
Benjamin Goldberg ◽  
Raphael Zufferey ◽  
Neel Doshi ◽  
Elizabeth Farrell Helbling ◽  
Griffin Whittredge ◽  
...  
Keyword(s):  
High Speed ◽  
Legged Robot ◽  
Power And Control ◽  
And Control

Modeling and Control Balance Design for a New Bio-inspired Four-Legged Robot

2019 ◽  
pp. 728-739
Author(s):  
Hiram Ponce ◽  
Mario Acevedo ◽  
Elizabeth Morales-Olvera ◽  
Lourdes Martínez-Villaseñor ◽  
Gabriel Díaz-Ramos ◽  
...  
Keyword(s):  
Legged Robot ◽  
Modeling And Control ◽  
Balance Design ◽  
And Control ◽  
Control Balance
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