scholarly journals On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

2020 ◽  
Author(s):  
Dariusz Grzelczyk ◽  
Jan Awrejcewicz
Keyword(s):  
Walking Robots

Multifunctional Electroelastomer Roll Actuators and Their Application for Biomimetic Walking Robots

2003 ◽  
Author(s):  
Qibing Pei ◽  
Marcus Rosenthal ◽  
Ron Pelrine ◽  
Scott Stanford ◽  
Roy Kornbluh
Keyword(s):  
Walking Robots

scholarly journals Neural Network Based Contact Force Control Algorithm for Walking Robots

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 287
Author(s):  
Byeongjin Kim ◽  
Soohyun Kim
Keyword(s):  
Neural Network ◽  
Contact Force ◽  
Force Control ◽  
Control Algorithm ◽  
Position Control ◽  
Linear Quadratic Regulator ◽  
Walking Robots ◽  
Test Model ◽  
Linear Quadratic ◽  
Contact Force Control

Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact force control algorithm based on neural networks. The proposed model is adapted to a linear quadratic regulator for position control and balance. The results demonstrate that this neural network-based model can accurately generate force and effectively reduce errors without requiring a sensor. The effectiveness of the algorithm is assessed with the realistic test model. Compared to the Jacobian-based calculation, our algorithm significantly improves the accuracy of the force control. One step simulation was used to analyze the robustness of the algorithm. In summary, this walking control algorithm generates a push-off force with precision and enables it to reject disturbance rapidly.

An experimental study on feature-based SLAM for multi-legged robots with RGB-D sensors

2017 ◽  
Vol 44 (4) ◽  
pp. 428-441 ◽  
Author(s):  
Michał R. Nowicki ◽  
Dominik Belter ◽  
Aleksander Kostusiak ◽  
Petr Cížek ◽  
Jan Faigl ◽  
...  
Keyword(s):  
Performance Metrics ◽  
State Of The Art ◽  
Building Blocks ◽  
Bundle Adjustment ◽  
The State ◽  
Legged Robots ◽  
Evaluation Methodology ◽  
Walking Robots ◽  
Content Type ◽  
Feature Based

Purpose This paper aims to evaluate four different simultaneous localization and mapping (SLAM) systems in the context of localization of multi-legged walking robots equipped with compact RGB-D sensors. This paper identifies problems related to in-motion data acquisition in a legged robot and evaluates the particular building blocks and concepts applied in contemporary SLAM systems against these problems. The SLAM systems are evaluated on two independent experimental set-ups, applying a well-established methodology and performance metrics. Design/methodology/approach Four feature-based SLAM architectures are evaluated with respect to their suitability for localization of multi-legged walking robots. The evaluation methodology is based on the computation of the absolute trajectory error (ATE) and relative pose error (RPE), which are performance metrics well-established in the robotics community. Four sequences of RGB-D frames acquired in two independent experiments using two different six-legged walking robots are used in the evaluation process. Findings The experiments revealed that the predominant problem characteristics of the legged robots as platforms for SLAM are the abrupt and unpredictable sensor motions, as well as oscillations and vibrations, which corrupt the images captured in-motion. The tested adaptive gait allowed the evaluated SLAM systems to reconstruct proper trajectories. The bundle adjustment-based SLAM systems produced best results, thanks to the use of a map, which enables to establish a large number of constraints for the estimated trajectory. Research limitations/implications The evaluation was performed using indoor mockups of terrain. Experiments in more natural and challenging environments are envisioned as part of future research. Practical implications The lack of accurate self-localization methods is considered as one of the most important limitations of walking robots. Thus, the evaluation of the state-of-the-art SLAM methods on legged platforms may be useful for all researchers working on walking robots’ autonomy and their use in various applications, such as search, security, agriculture and mining. Originality/value The main contribution lies in the integration of the state-of-the-art SLAM methods on walking robots and their thorough experimental evaluation using a well-established methodology. Moreover, a SLAM system designed especially for RGB-D sensors and real-world applications is presented in details.

Feasibility Study of Designing a Three Legged Walking Robot: Tribot

1991 ◽  
Author(s):  
Yueh-Jaw Lin ◽  
Aaron Tegland
Keyword(s):  
Feasibility Study ◽  
Legged Robots ◽  
Walking Robots ◽  
Design Parameters ◽  
Optimized Design ◽  
Motion Simulation ◽  
Walking Robot ◽  
Design Considerations ◽  
Simulation Based ◽  
Weight Distributions

Abstract In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.

Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments

1992 ◽  
Author(s):  
Peter V. Nagy ◽  
Subhas Desa ◽  
William L. Whittaker
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
Walking Robots ◽  
Ground Contact ◽  
Walking Robot ◽  
Computationally Efficient ◽  
The Face ◽  
Modeling And Experiments ◽  
Stable Gait

Abstract A large number of walking robots walk with a statically-stable gait. A statically-stable walker has at least three feet that are in ground contact at any time. If there are more than three feet in ground contact, the normal (vertical) forces exerted by the ground on the feet of the walker are indeterminate, unless they are measured. Some walking robots may walk with more than three legs in ground contact in order to achieve greater stability. To ensure this stability it is desirable to predict how vertical forces passively redistribute underneath the feet during walker motions. Predictions of future foot forces can be used as a basis for accepting or rejecting any planned walker motion. Two methods — the least-squares method and the compliance method — for predicting this redistribution of forces in the face of static indeterminacy are presented in this work. Both methods are computationally efficient, and give reasonably accurate predictions, as verified by experiments on a walking robot.

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