Steering a quadruped robot: Simulation and experimental results

2014 ◽  
Author(s):  
Alessandro Paolone de Medeiros ◽  
Jeeves Lopes dos Santos ◽  
Cairo Lucio Nascimento Junior
Keyword(s):  
Quadruped Robot ◽  
Experimental Results ◽  
Robot Simulation

Optimization of a Planar Quadruped Dynamic Leap

2008 ◽  
Author(s):  
Subhrajit Bhattacharya ◽  
Sachin Chitta ◽  
Vijay Kumar ◽  
Daniel Lee
Keyword(s):  
Quadruped Robot ◽  
Experimental Results ◽  
Walking Robots ◽  
Rough Terrain

Quadruped walking robots need to handle high obstacles like steps that are often not kinematically reachable. We present a dynamic leap that allows a quadruped robot to put its front legs up onto a high rock or ledge, a motion we have found is critical to being able to locomote over rough terrain. The leaping motion was optimized using a simulated planar quadruped model. We present experimental results for the implementation of this optimized motion on a real quadruped robot.

Implementation of a Quadruped Robot Pronking/Bounding Gait Using a Multipart Controller

2010 ◽  
Author(s):  
Alexandros Nikolakakis ◽  
Ioannis Kontolatis ◽  
Nicholas Cherouvim ◽  
Panagiotis Chatzakos ◽  
Evangelos Papadopoulos
Keyword(s):  
High Speed ◽  
Quadruped Robot ◽  
Experimental Results ◽  
High Speed Camera ◽  
Apex Height ◽  
Bounding Gait

This paper presents a multipart pronking/bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and high-speed camera captions show that the implemented quadruped robot performs pronking gaits and achieves bounding gaits with the desired characteristics.

Chaotic artificial bee colony approach to step planning of maintaining balance for quadruped robot

2014 ◽  
Vol 7 (2) ◽  
pp. 175-191 ◽  
Author(s):  
Qinan Luo ◽  
Haibin Duan
Keyword(s):  
Artificial Bee Colony ◽  
Contact Point ◽  
Optimization Method ◽  
Global Optimum ◽  
Quadruped Robot ◽  
Experimental Results ◽  
Local Optimum ◽  
Herd Behavior ◽  
Content Type ◽  
Bee Colony

Purpose – Artificial bee colony (ABC) algorithm is a relatively new optimization method inspired by the herd behavior of honey bees, which shows quite intelligence. The purpose of this paper is to propose an improved ABC optimization algorithm based on chaos theory for solving the push recovery problem of a quadruped robot, which can tune the controller parameters based on its search mechanism. ADAMS simulation environment is adopted to implement the proposed scheme for the quadruped robot. Design/methodology/approach – Maintaining balance is a rather complicated global optimum problem for a quadruped robot which is about seeking a foot contact point prevents itself from falling down. To ensure the stability of the intelligent robot control system, the intelligent optimization method is employed. The proposed chaotic artificial bee colony (CABC) algorithm is based on basic ABC, and a chaotic mechanism is used to help the algorithm to jump out of the local optimum as well as finding the optimal parameters. The implementation procedure of our proposed chaotic ABC approach is described in detail. Findings – The proposed CABC method is applied to a quadruped robot in ADAMS simulator. Using the CABC to implement, the quadruped robot can work smoothly under the interference. A comparison among the basic ABC and CABC is made. Experimental results verify a better trajectory tracking response can be achieved by the proposed CABC method after control parameters training. Practical implications – The proposed CABC algorithm can be easily applied to practice and can steer the robot during walking, which will considerably increase the autonomy of the robot. Originality/value – The proposed CABC approach is interesting for the optimization of a control scheme for quadruped robot. A parameter training methodology, using the presented intelligent algorithm is proposed to increase the learning capability. The experimental results verify the system stabilization, favorable performance and no chattering phenomena can be achieved by using the proposed CABC algorithm. And, the proposed CABC methodology can be easily extended to other applications.

Diagnostics of Gold Laser Plasmas

1988 ◽  
Vol 102 ◽  
pp. 357-360
Author(s):  
J.C. Gauthier ◽  
J.P. Geindre ◽  
P. Monier ◽  
C. Chenais-Popovics ◽  
N. Tragin ◽  
...  
Keyword(s):  
Experimental Results ◽  
Pure Gold ◽  
Electronic Temperature ◽  
X Ray ◽  
Laser Plasmas ◽  
Collisional Radiative Model ◽  
Radiative Model

AbstractIn order to achieve a nickel-like X ray laser scheme we need a tool to determine the parameters which characterise the high-Z plasma. The aim of this work is to study gold laser plasmas and to compare experimental results to a collisional-radiative model which describes nickel-like ions. The electronic temperature and density are measured by the emission of an aluminium tracer. They are compared to the predictions of the nickel-like model for pure gold. The results show that the density and temperature can be estimated in a pure gold plasma.

Observation of Phase Contrast Images in STEM and CTEM Modes by Using 100 kV Field Emission Electron Gun

1974 ◽  
Vol 32 ◽  
pp. 390-391
Author(s):  
Y. Harada ◽  
T. Goto ◽  
H. Koike ◽  
T. Someya
Keyword(s):  
Field Emission ◽  
Phase Contrast ◽  
Image Formation ◽  
Fresnel Diffraction ◽  
Experimental Results ◽  
Electron Gun ◽  
Scanning Microscopy ◽  
Emission Electron ◽  
Lattice Images

Since phase contrasts of STEM images, that is, Fresnel diffraction fringes or lattice images, manifest themselves in field emission scanning microscopy, the mechanism for image formation in the STEM mode has been investigated and compared with that in CTEM mode, resulting in the theory of reciprocity. It reveals that contrast in STEM images exhibits the same properties as contrast in CTEM images. However, it appears that the validity of the reciprocity theory, especially on the details of phase contrast, has not yet been fully proven by the experiments. In this work, we shall investigate the phase contrast images obtained in both the STEM and CTEM modes of a field emission microscope (100kV), and evaluate the validity of the reciprocity theory by comparing the experimental results.

A new dissociation mode for dislocations in silicon

1978 ◽  
Vol 36 (1) ◽  
pp. 346-347
Author(s):  
A. Ourmazd ◽  
G.R. Booker ◽  
C.J. Humphreys
Keyword(s):  
Detailed Examination ◽  
Experimental Results ◽  
Dislocation Network ◽  
Weak Beam ◽  
Phosphorus Doped

A (111) phosphorus-doped Si specimen, thinned to give a TEM foil of thickness ∼ 150nm, contained a dislocation network lying on the (111) plane. The dislocation lines were along the three <211> directions and their total Burgers vectors,ḇt, were of the type , each dislocation being of edge character. TEM examination under proper weak-beam conditions seemed initially to show the standard contrast behaviour for such dislocations, indicating some dislocation segments were undissociated (contrast A), while other segments were dissociated to give two Shockley partials separated by approximately 6nm (contrast B) . A more detailed examination, however, revealed that some segments exhibited a third and anomalous contrast behaviour (contrast C), interpreted here as being due to a new dissociation not previously reported. Experimental results obtained for a dislocation along [211] with for the six <220> type reflections using (g,5g) weak-beam conditions are summarised in the table below, together with the relevant values.

Multislice calculations of RHEED patterns from vicinal Si (001)

1993 ◽  
Vol 51 ◽  
pp. 1000-1001
Author(s):  
Scott Lordi
Keyword(s):  
Misorientation Angle ◽  
Incident Angle ◽  
Incident Beam ◽  
Experimental Results ◽  
Bragg Condition ◽  
Vicinal Surfaces ◽  
Kinematic Theory ◽  
Step Edges

Vicinal Si (001) surfaces are interesting because they are good substrates for the growth of III-V semiconductors. Spots in RHEED patterns from vicinal surfaces are split due to scattering from ordered step arrays and this splitting can be used to determine the misorientation angle, using kinematic arguments. Kinematic theory is generally regarded to be inadequate for the calculation of RHEED intensities; however, only a few dynamical RHEED simulations have been attempted for vicinal surfaces. The multislice formulation of Cowley and Moodie with a recently developed edge patching method was used to calculate RHEED patterns from vicinal Si (001) surfaces. The calculated patterns are qualitatively similar to published experimental results and the positions of the split spots quantitatively agree with kinematic calculations.RHEED patterns were calculated for unreconstructed (bulk terminated) Si (001) surfaces misoriented towards [110] ,with an energy of 15 keV, at an incident angle of 36.63 mrad ([004] bragg condition), and a beam azimuth of [110] (perpendicular to the step edges) and the incident beam pointed down the step staircase.

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