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The goals of the research in this thesis are twofold. First, I designed and tested a stair-traversing controller, which allows RHex to ascend and descend a wide variety of human sized stairs. I tested the stair-ascending controller on nine different flights of stairs, and the stair-descending controller on four different flights of stairs. Rhex was...
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Citations
... At present, numerous robots are devoted to problem of walking robots, in which the following are considered: WR design [7] [8] [9] [10] [11], motion algorithms [12] [13], stability of robot [14] [15], construction of a motion control system [16] [17], etc. ...
... In [12], motion algorithms are considered and classified into 3 groups: non-adaptive, self-learning algorithms, etc. ...
In this review, we would like to present some of the most interesting modern designs of walking robots: bipedal, quadropedal, hexopedal, and octopods. Their advantages and disadvantages are highlighted. It has been determined that structures with eight or more limbs are ineffective due to high level of electricity consumption. The use of more than six number of legs does not give noticeable advantages in profile cross-country ability or maneuverability, however, it allows to reduce the forces and moments of inertia forces due to decrease in mode coefficient (ratio of time spent by propulsor in support to time of entire step), and, consequently, smoother leg movements in swing phase.
... Hexapod robots are one of the most statically stable legged robots, and possess great flexibility, while standing or moving [9]. This stability combined with a simple C-leg design with only one degree of freedom per leg, offers a balanced trade-off between the increased mobility capabilities of legged robots and the robustness and high speeds of conventional wheeled robots [10]. Figure 1 shows a C-legged hexapod robot designed and manufactured by the Universidad Politécnica de Madrid. ...
... The synchronization possibilities of the six individual legs give rise to a variety of different gaits which determine the motion of the robot [13]. The two most common gaits are the alternating tripod gait mode and the six legs synchronized gait mode [10]. ...
... In the model, developed in the following subsection, the following assumptions have been assumed: Massless leg: This is an acceptable assumption as it is important to note that the Cleg mass of hexapod robots accounts for only 5% of the total robot mass [10]. Therefore, assuming a massless leg will not largely impact the motion mechanics of the system and will still allow us to develop an adequate energy and power consumption model. ...
C-legged hexapod robots offer a balanced trade-off between the robust stability of wheeled robots and the increased-motion capabilities of legged robots, and therefore, are currently of great interest. This article investigates the impact of mass, leg radius, and angular velocity on the energy consumption of C-legged hexapod robots, in order to develop a set of design guidelines that maximize the robot’s performance. The kinematic model of a single C-leg system is obtained and used to determine the system’s energy consumption associated with gravitational potential energy (GPE) and kinetic energy (KE) variations. Both the kinematic model and energy model are validated in a custom-made test bench. Our results show that the kinematic model very accurately predicts the trajectory of the system in space, but due to the varying load experienced by the motor, the system lags compared to the model predictions. Furthermore, the energy model has been also validated experimentally and successfully predicts the motor consumption periods. Using the energy model, it has been concluded that the angular velocity of the leg and the leg radius have an exponential relationship with motor peak power demand—directly affecting the motor selection. On the other hand, the mass is inversely proportional to the robot efficiency, and therefore, must be kept as low as possible.
... A pesar de la gran proliferación de este tipo de robots, no se han realizado estudios que profundicen en el estudio cinemático de las patas de los mismos [4], [7], [9]. Sin embargo, este estudio es fundamental para este tipo de robots, condicionando el proceso de diseño y construcción de los mismos. ...
... La configuración del robot le dota de una capacidadúnica para adoptar multitud de diferentes modos de marcha [4] [9] [5]. Esto hace que el control de cada una de las patas que lo componen sea lo más preciso posible. ...
... Con estas características, el hexápodo puede adaptar multitud de diferentes modos de marcha. El robot puede desempeñar desde pequeños saltos, subir y bajar escaleras [4] [1], avanzar de forma cuadrúpeda o incluso bípeda [5]. Figura 3: Marcha bípeda del RHex. ...
... Известные алгоритмы движения можно разделить на три группы [7]: − неадаптивные алгоритмы (т. е. алгоритмы с заранее сконфигурированными количеством конечностей и последовательностью действий); − адаптивные алгоритмы (т. ...
... Firstly, our own designed leg shape was invented (Fig. 5a), but after some simulation experiments legs from RHex were taken [9] (Fig. 5b). Moreover, we find how to improve RHex shape. ...
In this paper, we introduce a modification for legged locomotion and methods for biomimetic centipede robot design. Biomimetic centipede robots can be well-suited to a number of applications, including search-and-rescue around demolished rubble, logistics in rocky and hazardous areas, and more. The design space for such robots is quite large, with numerous open possibilities for body and leg shapes, configurations, and numbers of components. In contrast to similar robotic platforms proposed prototype can move in any direction. Moreover, proposed design allows robot to operate in either omni-direction or conventional states without changing components. It was shown that new design provides better cross-country passability. Structural synthesis of Biomimetic Centipede Robot StriRus was made using evolutionary algorithm and simulation, which includes optimization the number of legs and angles between neighbor legs. Crosschecked angle optimization was done using kinematics.
... 2) Robot locomotion performance: While locomotiontargeted robot design studies often focus on the isolated optimization of key components like actuators [17] or gearboxes [18], or both simultaneously [19], fewer attempts have been made to trace the benefits forward to overall platform performance [15,[20][21][22]. ...
... II motivates a new study in this area. This paper revisits the leg design study for RHex in [20], with the following distinctions: with a focus on easier manufacturability, we only consider off-the-shelf materials, and no composites with custom layups. In addition we introduce a new metric related to the decoupling of radial and tangential forces acting on the leg (below). ...
... To simplify the kinematics, we assume a small angle of deflection φ, so that the distance between hip H and the secondary attachment point P remains constant and ≈ l b (Fig. 3). In [20], the authors empirically measured the resultant forces at the toe, to help model a similar leaf-spring design as a combination of rigid bodies and rotational springs, whereas our model is more similar to the way ATRIAS legs are modeled in [32]. • Delrin 4-bar with extension spring. ...
We present the first fully spatial hopping gait of a 12 DoF tailed biped driven by only 4 actuators. The control of this physical machine is built up from parallel compositions of controllers for progressively higher DoF extensions of a simple 2 DoF, 1 actuator template. These template dynamics are still not themselves integrable, but a new hybrid averaging analysis yields a conjectured closed form representation of the approximate hopping limit cycle as a function of its physical and control parameters. The resulting insight into the role of the machine's kinematic and dynamical design choices affords a redesign leading to the newly achieved behavior.
... 4) Algorithm optimization via robot simulator: Robot simulators are software packages, which can simulate both kinematics, dynamics and create virtual sensor data, to be used by the robot control software which interfaces to them, and which can often later be disconnected from them and connected to a physical robot. One of the common usage of such simulators is robot algorithm optimization, for instance, robot's gait optimization [11], [12] and [13]. ...
... 2) We also plan to create a genetic algorithm for the legs (length, form) to make the shape of leg optimization. The problem of leg's shape optimization was reviewed in [13] and why we could use similar approaches to improve our robot. ...
Biomimetic centipede robots can be well-suited to a number of applications, including search-and-rescue around demolished rubble, logistics in rocky and hazardous areas, and more. The design space for such robots in quite large, with numerous open possibilities for body and leg shapes, configurations and numbers of components. On the other hand, realistic systems aim toward optimizing various performance measures, some of which can be directly calculated from the design parameters, while others require physical experimentation and simulation. In this paper, we present parametric models of centipede robots as well as rough terrains, and then we evaluate the performance of different robot designs across different terrains. We incrementally derive better designs through an appropriately crafted evolutionary algorithm. Promising results as well as insights are discussed. Finally, we provide a clear list of future steps and a forward-looking conclusion.
... Recently, researchers have been investigating adding compliance or flexibility in robot structures through geometry. The RHex hexapod robot, shown in Figure 9 [8], utilizes legs designed with flexible geometry for complex terrain navigation [44][45][46]. The curved legs of the RHex were designed to be lightweight and flexible throughout the length of the leg. ...
Compliance in legged robotics has recently become favored over rigid leg members. The energy cost associated with rigid legged walking is high, and speeds are typically decreased with terrain changes. The use of compliant legs can provide stable walking while enabling higher maximum speeds.
Inspired by biological principals in insectoid locomotion, a physical model for energy efficient limb design was explored. A compliant leg structure was designed and replaced the rigid leg members of an insectoid robot. Velocity and ground reaction force data was gathered for both rigid and compliant lower leg members at various
stiffness values for ideal and complex terrain.
Furthermore, a command was designed to maximize walking speeds. Design parameters of stiffness, command duration, and command spacing are selected. The designed command, combining the optimal value of the design parameters, produced an increased stance departure velocity value and can be implemented in insectoid robots
with compliant legs.
... A pesar de la gran proliferación de este tipo de robots, no se han realizado estudios que profundicen en el estudio cinemático de las patas de los mismos [6], [10]. Sin embargo, este estudio es fundamental para este tipo de robots, condicionando el proceso de diseño y construcción de los mismos. ...
... La variación de altura descrita en el párrafo anterior permite dotar al robot de funcionalidades extras como podría ser la de escanear una zona con un láser 2D sin necesidad de una unidad pantilt [6]. ...
En este artículo se profundiza en el modelado matemático de la odometría para robots hexápodos con extremidades denominadas C-legs. El estudio no es trivial, y se analizan todas las posibilidades que puede tener el sistema según las variables que se definan. Todo el estudio se ve reforzado con una serie de simulaciones realizadas donde los resultados obtenidos coinciden con los esperados.
