Crawling gait generation method for four-limbed robot based on normalized energy stability margin

2017 ◽  
Author(s):  
T. Matsuzawa ◽  
K. Hashimoto ◽  
X. Sun ◽  
T. Teramachi ◽  
S. Kimura ◽  
...  
Keyword(s):  
Stability Margin ◽  
Energy Stability ◽  
Gait Generation

Normalized Energy Stability Margin Based Analysis of Omni-Directional Static Walking of a Quadruped Robot on Rough Terrain

2011 ◽  
Vol 383-390 ◽  
pp. 7401-7405
Author(s):  
Lei Zhang ◽  
Shan Gao
Keyword(s):  
Stability Criterion ◽  
Simulation Experiment ◽  
Stability Margin ◽  
Quadruped Robot ◽  
Center Of Gravity ◽  
Energy Stability ◽  
Rough Terrain ◽  
The Stability

With Normalized Energy Stability Margin(Sne ) as stability criterion, this paper studies the tumbles of omni-directional static walking of a quadruped robot around the line connecting two adjacent supporting legs on rough terrain, proposes the method to improve the stability of quadruped robot by increasing the (Sne ) value, which is realized by lowering the height of center of gravity(COG), and finally substantiates the feasibility of the method through a simulation experiment.

scholarly journals Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-10
Author(s):  
Evgeny Lazarenko ◽  
Satoshi Kitano ◽  
Shigeo Hirose ◽  
Gen Endo
Keyword(s):  
Stability Criterion ◽  
External Disturbance ◽  
Stability Margin ◽  
Energy Stability ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Gait Control

This paper discusses the importance of a nontumbling gait, a gait that allows preventing complete tumbling of the robot. Nontumbling gait is made possible by the effect of the swing leg which may contact the ground even when the robot is affected by an external disturbance. Such an effect is present in both static walking and dynamic walking. Stability criterion required to maintain the nontumbling gait is then considered and proposed through generalized directional normalized energy stability margin. The validity of the introduced criterion is evaluated by a tumbling experiment with a simplified walking robot model. The concept is also applied to the gait control of the newly developed walking robot TITAN-XIII.

Non-Tumbling Gait and directional normalized energy stability margin

2013 ◽  
Vol 27 (15) ◽  
pp. 1137-1145 ◽  
Author(s):  
Shigeo Hirose ◽  
Evgeny Lazarenko ◽  
Gen Endo
Keyword(s):  
Stability Margin ◽  
Energy Stability

Slope walking simulation considering normalized energy stability margin for double spiral mobile robot

2017 ◽  
Vol 2017 (0) ◽  
pp. 2A1-D12
Author(s):  
Taiki KANEKO ◽  
Kouta SASAKI ◽  
Naohiko HANAJIMA ◽  
Masato MIZUKAMI ◽  
Yoshinori FUJIHIRA
Keyword(s):  
Mobile Robot ◽  
Stability Margin ◽  
Energy Stability ◽  
Double Spiral

Optimal turning gait of a six-legged robot using a GA-fuzzy approach

2000 ◽  
Vol 14 (3) ◽  
pp. 207-219 ◽  
Author(s):  
DILIP KUMAR PRATIHAR ◽  
KALYANMOY DEB ◽  
AMITABHA GHOSH
Keyword(s):  
Stability Margin ◽  
Static Stability ◽  
Legged Robot ◽  
Fuzzy Approach ◽  
Traditional Methods ◽  
Gait Generation ◽  
Minimum Number ◽  
Stable Gait ◽  
Multilegged Robot ◽  
The Stability

This paper describes a new method for generating the turning-gait of a six-legged robot using a combined genetic algorithm (GA)-Fuzzy approach. The main drawback of the traditional methods of gait generation is their high computational load. Thus, there is still a need for the development of a computationally tractable algorithm that can be implemented online to generate stable gait of a multilegged robot. In the proposed genetic-fuzzy system, the fuzzy logic controllers (FLCs) are used to generate the stable gait of a hexapod and a GA is used to improve the performance of the FLCs. The effectiveness of the proposed algorithm is tested on a number of turning-gait generation problems of a hexapod that involve translation as well as rotation of the vehicle. The hexapod will have to take a sharp circular turn (either clockwise or counter-clockwise) with minimum number of ground legs having the maximum average kinematic margin. Moreover, the stability margin should lie within a certain range to ensure static stability of the vehicle. Each leg of a six-legged robot is controlled by a separate FLC and the performance of the controllers is improved by using a GA. It is to be noted that the actual optimization is done off-line and the hexapod can use these optimized FLCs to navigate in real-world scenarios. As an FLC is computationally less expensive, the proposed algorithm will be faster compared with the traditional methods of gait-generation, which include both graphical as well as analytical methods. The GA-tuned FLCs are found to perform better than the author-defined FLCs.

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