scholarly journals Bio-Inspired Adaptive Locomotion Control System for Online Adaptation of a Walking Robot on Complex Terrains

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 91587-91602 ◽  
Author(s):  
Potiwat Ngamkajornwiwat ◽  
Jettanan Homchanthanakul ◽  
Pitiwut Teerakittikul ◽  
Poramate Manoonpong
Keyword(s):  
Control System ◽  
Walking Robot ◽  
Locomotion Control ◽  
Adaptive Locomotion ◽  
Online Adaptation

scholarly journals Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989132
Author(s):  
Ivan Chavdarov ◽  
Bozhidar Naydenov
Keyword(s):  
Control System ◽  
Walking Robots ◽  
Energy Losses ◽  
Simple Design ◽  
Walking Robot ◽  
Minimum Number ◽  
And Control ◽  
Original Concept ◽  
Dimensional Optimization

The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors. Described are basic geometric and kinematic dependencies related to its movement. It is proposed optimization of basic dimensions of the robot in order to reduce energy losses when moving on flat terrain. Developed and produced is a 3-D printed prototype of the robot. Simulation and experiments for overcoming an obstacle are presented. Trajectories and instantaneous velocities centers of links from the robot are experimentally determined. The phases of walking and the stages of overcoming an obstacle are described. The theoretical and experimental results are compared. The suggested dimensional optimization approaches to reduce energy loss and experimental determination of the instant center of rotation are also applicable to other walking robots.

Distributed Control System for Six-Legged Walking Robot

1993 ◽  
Vol 5 (6) ◽  
pp. 570-574
Author(s):  
Ryoichi Nakayama ◽  
◽  
Hitoshi Iida ◽  
Hisashi Hozumi ◽  
Satoshi Okada ◽  
...  
Keyword(s):  
Control System ◽  
Distributed Control ◽  
Distributed Control System ◽  
Walking Robot ◽  
Robot System ◽  
Control Concept ◽  
The Individual

In this paper, describe a walking robot system which has been developed based on the assumption that it will be used to perform visual inspections. The robot is designed to be static walking and cableless. The six legs are disposed symmetrically around the center of the robot's body, and each modular leg comprises a number of links. The distributed control concept is adopted for the control system, which consists of a main controllers a sub-controller, and local controllers. The local controllers and driver circuits for the DC servo motors are mounted on the individual leg modules, and special-purpose small lightweight units have been developed. The robot is automatically controlled by a sub-controller which receives walk commands from the remote unit's main controller.

Prototype Model of Walking Robot

2014 ◽  
Vol 613 ◽  
pp. 21-28 ◽  
Author(s):  
Tadeusz Mikolajczyk ◽  
Tomasz Fas ◽  
Tomasz Malinowski ◽  
Łukasz Romanowski
Keyword(s):  
Control System ◽  
Flat Surface ◽  
Degree Of Freedom ◽  
Prototype Model ◽  
Walking Robot ◽  
Flat Surfaces ◽  
Simple Idea ◽  
Centre Of Gravity

The purpose of this paper is to elaborate not on the bionic pattern of walking robot. Our own simple idea of 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs was made using vertical moved legs with rotary foot and additional controlled mass. In this paper, based on former idea, prototype model for only flat surface walking task 3 DOF were presented. Parts of the robot are moving thanks to servo motors. The paper contains kinematics and centre of gravity analysis, presentation of robot and its control system made using Pololu controller. Conducted experiments confirmed presented idea.

Modeling and Control System Simulation for 7-Link Biped Robot

2013 ◽  
Vol 431 ◽  
pp. 262-268
Author(s):  
Chuang Feng Huai ◽  
Xue Yan Jia
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Biped Robot ◽  
Stable Region ◽  
Walking Robot ◽  
Biped Walking ◽  
Modeling And Control ◽  
Ground Conditions ◽  
Biped Walking Robot ◽  
And Control

Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.

scholarly journals Gait Generation and Control of a Hexapod Walking Robot

2014 ◽  
Vol 8 (1) ◽  
pp. 335-341 ◽  
Author(s):  
Yu Ya-xin ◽  
Jin Bo
Keyword(s):  
Control System ◽  
Kinematic Model ◽  
Energetic Cost ◽  
Walking Robot ◽  
Human Machine Interaction ◽  
Gait Patterns ◽  
Gait Generation ◽  
Position Data ◽  
And Control ◽  
Coordination Layer

In this paper, the mechanical structure of a hexapod walking robot is presented and the kinematic model is established. The foot trajectory of each leg, which is optimized by genetic algorithms to minimize energetic cost, was proposed with two different gait patterns applied. Control system was divided into coordination-layer and execution-layer. Coordination-layer, was a PC responsible, for whole system’s regulation. It could calculate each joint’s expected trajectory according to user’s definitions, and then transmitted object position data to execution-layer through serial port. The execution- layer used LPC2132 based on ARM7 for core controller. Control system realized the human-machine interaction, gait generation, complex kinematic calculation and servomotor control. Experimental results of the robot shows that it could walk smoothly without obvious body undulation.

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