scholarly journals Inverse Kinematics of a New Quadruped Robot Control Method

10.5772/55299 ◽  
2013 ◽  
Vol 10 (1) ◽  
pp. 46 ◽  
Author(s):  
Cai RunBin ◽  
Chen YangZheng ◽  
Lang Lin ◽  
Wang Jian ◽  
Ma Hong Xu
Keyword(s):  
Inverse Kinematics ◽  
Robot Control ◽  
Control Method ◽  
Quadruped Robot

Bionic Methods for Quadruped Robot Design and Control

2013 ◽  
Vol 461 ◽  
pp. 869-876
Author(s):  
Run Bin Cai ◽  
Qing Wei ◽  
Hong Xu Ma
Keyword(s):  
Robot Control ◽  
Control Method ◽  
Step Length ◽  
Quadruped Robot ◽  
Control Architecture ◽  
German Shepherd ◽  
Trot Gait ◽  
Nerve System ◽  
And Control ◽  
Support Phase

Bionics has greatly improved the development of quadruped robot, in the paper we propose three bionic methods for the quadruped robot. These methods have been used for control method design, gait design and control architecture design. The quadruped robot control method has been divided into two parts, because the four-legged animals change their trot speed by adjustment of step length in swing phase and maintain their balance in support phase; control architecture is derived from the four-legged animals nerve system; gait of quadruped robot is based on event driven, and its trot gait is the same as German shepherd. Simulations and experiments are performed, which prove bionics design to be realizable for the quadruped robot.

scholarly journals ANALYSIS OF HEXAPOD ROBOT LOCOMOTION

2010 ◽  
Vol 2 (1) ◽  
pp. 36-39 ◽  
Author(s):  
Tomas Luneckas
Keyword(s):  
Inverse Kinematics ◽  
Robot Control ◽  
Control Method ◽  
Servo Control ◽  
Control Methods ◽  
Control Parameters ◽  
Hexapod Robot ◽  
Robot Locomotion ◽  
Tripod Gait ◽  
And Control

Hexapod robot locomotion is analyzed. Trajectory forming method for one leg is introduced. Servo angles are expressed using geometric inverse kinematics method. Forming of tripod gait is described and a diagram representing it is presented. Servo control parameters are defined to ensure fluent and versatile robot control. Several servo control methods are presented. After testing robot movement using different servo control methods, gait generation is corrected and control method that meets servo control parameters is chosen.

scholarly journals Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention

Heliyon ◽  
2018 ◽  
Vol 4 (12) ◽  
pp. e01053 ◽  
Author(s):  
Md. Moin Uddin Atique ◽  
Md. Rafiqul Islam Sarker ◽  
Md. Atiqur Rahman Ahad
Keyword(s):  
Inverse Kinematics ◽  
Quadruped Robot

scholarly journals A Quadruped Robot with the Wooden Body for Static Locomotion in a Controlled Environment

2020 ◽  
Author(s):  
Muhammad Bilal Khan
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Low Cost ◽  
Control Design ◽  
Quadruped Robot ◽  
Legged Robots ◽  
Controlled Environment ◽  
Robot Design ◽  
Classroom Setting

We present the design and overall development of an eight degrees of freedom (DOF) based Bioinspired Quadruped Robot (BiQR). The robot is designed with a skeleton made of cedar wood. The wooden skeleton is based on exploring the potential of cedar wood to be a choice for legged robots’ design. With a total weight of 1.19 kg, the robot uses eight servo motors that run the position control. Relying on the inverse kinematics, the control design enables the robot to perform the walk gait-based locomotion in a controlled environment. The robot has two main aspects: 1) the initial wooden skeleton development of the robot showing it to be an acceptable choice for robot design, 2) the robot’s applicability as a low-cost legged platform to test the locomotion in a laboratory or a classroom setting.

Inverse Kinematics Modelling and Simulation for Upper Case Writing Robot Control Using ANFIS

2016 ◽  
Vol 836 ◽  
pp. 37-41 ◽  
Author(s):  
Adlina Taufik Syamlan ◽  
Bambang Pramujati ◽  
Hendro Nurhadi
Keyword(s):  
Image Processing ◽  
Character Recognition ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Industrial Revolution ◽  
Training Data ◽  
Robotic Arm ◽  
End Effector ◽  
Precision And Accuracy ◽  
Case Writing

Robotics has lots of use in the industrial world and has lots of development since the industrial revolution, due to its qualities of high precision and accuracy. This paper is designed to display the qualities in a form of a writing robot. The aim of this study is to construct the system based on data gathered and to develop the control system based on the model. There are four aspects studied for this project, namely image processing, character recognition, image properties extraction and inverse kinematics. This paper served as discussion in modelling the robotic arm used for writing robot and generating theta for end effector position. Training data are generated through meshgrid, which is the fed through anfis.

A Service Robot with Lightweight Arms and a Trinocular Vision Sensor

2010 ◽  
Vol 439-440 ◽  
pp. 396-400
Author(s):  
Xian Hua Li ◽  
Shi Li Tan ◽  
Wu Xin Huang
Keyword(s):  
Control System ◽  
Coordinate System ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Service Robot ◽  
Algebraic Solution ◽  
Vision Sensor ◽  
Solution Methods ◽  
Space Coordinate ◽  
Position And Orientation

This paper describes a household service robot with two lightweight arms and a trinocular vision sensor. According to DH convention, the coordinate system of two arms is established, and position and orientation of the hand is computed. The inverse kinematics of the arm is solved with geometric and algebraic solution methods. By the trinocular vision sensor, robot can recognize the bottle and get its 3-D space coordinate. Through experiments, both correctness of the algorithm and stability of the robot control system are validated.

A Trot and Flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution

2019 ◽  
Vol 16 (4) ◽  
pp. 621-632 ◽  
Author(s):  
Teng Chen ◽  
Xiaobo Sun ◽  
Ze Xu ◽  
Yibin Li ◽  
Xuewen Rong ◽  
...  
Keyword(s):  
Control Method ◽  
Quadruped Robot ◽  
Force Distribution ◽  
Foot Force
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