Teleoperation system using past image records for legged robot

2011 ◽  
Author(s):  
Hisashi Mizumoto ◽  
Hannes Daepp ◽  
Wayne J Book ◽  
Fumitoshi Matsuno
Keyword(s):  
Legged Robot ◽  
Teleoperation System

Legged Robot Teleoperation System using Past Image Records

2016 ◽  
Vol 2016 (0) ◽  
pp. 1A1-09a6
Author(s):  
Yasuaki KONISHI ◽  
Ryosuke MURATA ◽  
Noritara SATO ◽  
Takahiro ENDO ◽  
Fumitoshi MATSUNO
Keyword(s):  
Legged Robot ◽  
Teleoperation System

Attitude Stabilization for Bending and Stretching Movement by Using Tiptoe of a One-legged Robot

2013 ◽  
Vol 133 (3) ◽  
pp. 663-671
Author(s):  
Hiroshi Hirata ◽  
Yorinao Mizushima ◽  
Shigeto Ouchi ◽  
Nariyuki Kodani
Keyword(s):  
Legged Robot ◽  
Attitude Stabilization

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.

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