A Methodology for BIM-enabled Automated Reality Capture in Construction Inspection with Quadruped Robots

2021 ◽  
Author(s):  
Srijeet Halder ◽  
Kereshmeh Afsari ◽  
John Serdakowski ◽  
Stephen DeVito
Keyword(s):  
Quadruped Robots ◽  
Construction Inspection

scholarly journals A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2838
Author(s):  
Xiaoxing Zhang ◽  
Haoyuan Yi ◽  
Junjun Liu ◽  
Qi Li ◽  
Xin Luo
Keyword(s):  
Harmonic Oscillation ◽  
Ground Surface ◽  
Legged Locomotion ◽  
Soft Ground ◽  
Quadruped Robots ◽  
In Series ◽  
Reaction Forces ◽  
Implementation Method ◽  
The Stability ◽  
Natural Dynamics

There has been a rising interest in compliant legged locomotion to improve the adaptability and energy efficiency of robots. However, few approaches can be generalized to soft ground due to the lack of consideration of the ground surface. When a robot locomotes on soft ground, the elastic robot legs and compressible ground surface are connected in series. The combined compliance of the leg and surface determines the natural dynamics of the whole system and affects the stability and efficiency of the robot. This paper proposes a bio-inspired leg compliance planning and implementation method with consideration of the ground surface. The ground stiffness is estimated based on analysis of ground reaction forces in the frequency domain, and the leg compliance is actively regulated during locomotion, adapting them to achieve harmonic oscillation. The leg compliance is planned on the condition of resonant movement which agrees with natural dynamics and facilitates rhythmicity and efficiency. The proposed method has been implemented on a hydraulic quadruped robot. The simulations and experimental results verified the effectiveness of our method.

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

2015 ◽  
Author(s):  
Andrew P. Sabelhaus ◽  
Hao Ji ◽  
Patrick Hylton ◽  
Yakshu Madaan ◽  
ChanWoo Yang ◽  
...  
Keyword(s):  
Mechanism Design ◽  
Design Process ◽  
Inverse Kinematics ◽  
Gear Ratio ◽  
Forward Kinematics ◽  
Robot Design ◽  
Link Structure ◽  
Iterative Design ◽  
Quadruped Robots ◽  
Ongoing Effort

The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.

Optimized Static Gait for Quadruped Robots Walking on Stairs

2021 ◽  
Author(s):  
Linqi Ye ◽  
Yaqi Wang ◽  
Xueqian Wang ◽  
Houde Liu ◽  
Bin Liang
Keyword(s):  
Quadruped Robots

Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Shengjie Wang ◽  
Kun Wang ◽  
Chunsong Zhang ◽  
Jian S Dai
Keyword(s):  
Optimal Design ◽  
Energy Analysis ◽  
Rotation Axis ◽  
Low Cost ◽  
Minimum Energy ◽  
Design Parameters ◽  
Quadruped Robots ◽  
Design Idea ◽  
The Relationship

Abstract A kinetostatic approach applied to the design of a backflip strategy for quadruped robots is proposed in this paper. Inspired by legged animals and taking the advantage of the leg workspace, this strategy provides an optimal design idea for the low-cost quadruped robots to achieve self-recovery after overturning. Through kinetostatic and energy analysis, a four-stepped backflip strategy based on the selected rotation axis with minimum energy is proposed, with a process of selection, lifting, rotating, and protection. The kinematic factors that affect the backflip are investigated, along with the relationship between the design parameters of the leg and trunk being analyzed. At the end of this paper, the strategy is validated by a simulation and experiments with a prototype called DRbot, demonstrating that the strategy endows the robot a strong self-recovery ability in various terrains.

Bridge Construction Inspection

2003 ◽  
pp. 4-1-4-18
Author(s):  
Mahmoud Fustok ◽  
Masoud Alemi
Keyword(s):  
Bridge Construction ◽  
Construction Inspection

scholarly journals ADMINISTRATIVE PROCEDURE FOR THE PROVISION OF ELECTRONIC SERVICES IN THE FORM OF A DECLARATION (NOTIFICATION) BY PHYSICAL PERSONS TO THE STATE ARCHITECTURAL AND CONSTRUCTION INSPECTION

2019 ◽  
pp. 74-77
Author(s):  
A. R. Ishkhanian
Keyword(s):  
Digital Signature ◽  
Software Package ◽  
The State ◽  
Scientific Article ◽  
Administrative Procedure ◽  
Electronic Service ◽  
Service Consumer ◽  
Construction Inspection ◽  
The Moment

The scientific article is devoted to the coverage of the administrative procedure for providing electronic services by the State Architectural and Construction Inspectorate of Ukraine. Different approaches to the concept of administrative procedure in terms of e-services provision are discussed. The stages of the procedure of providing electronic service in the form of submission of a declaration (notification) by individuals are characterized. It is established that before commencing the process of submission of the declaration (message), the service consumer must have a personal key and a valid enhanced certificate, which will be used during the submission process to affix an electronic digital signature to the form with the declaration (message). You can obtain enhanced key certificates at an accredited key certification center. Thus, at the moment the service supports certificates issued by the certification center of the information and reference department of the Ministry of Revenue and Collections of Ukraine. Install a Java computing software package on your computer and enable JavaScript scripts to run in your browser. Please note that detailed Java installation instructions are available at http://java.com/download/installed.jsp. You can download Java directly for Windows from http://www.java.com/download/windows_xpi.jsp. How to enable JavaScript scripts in your browser (http://www.enable-javascript.com/en/). It is concluded that the procedure of providing the service in electronic form, for example, the submission of a declaration (notification) by the state architectural and construction inspection of Ukraine is regulated in detail on the official website and still needs to improve the quality of the provision of these services in the form of simplification and accessibility for all consumers services.

scholarly journals Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

2021 ◽  
Vol 8 ◽  
Author(s):  
Hongwu Zhu ◽  
Dong Wang ◽  
Nathan Boyd ◽  
Ziyi Zhou ◽  
Lecheng Ruan ◽  
...  
Keyword(s):  
Motion Tracking ◽  
Center Of Mass ◽  
Kinematic Model ◽  
Linear Quadratic Regulator ◽  
Small Scale ◽  
Small Range ◽  
Linear Quadratic ◽  
Stability Margins ◽  
Uneven Terrain ◽  
Quadruped Robots

Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along the sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the center of mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate a stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with linear quadratic regulator (LQR) to bind the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs, and slopes.

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