Low-impact motion planning method of hydraulically actuated hexapod robot

被引：5

作者：

Liu, Yiqun ^{[1
]}

Deng, Zongquan ^{[1
]}

Liu, Zhen ^{[1
]}

Ding, Liang ^{[1
]}

Gao, Haibo ^{[1
]}

Li, Yuchao ^{[1
]}

机构：

[1] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2015年 / 51卷 / 03期

关键词：

Foot trajectory; Hexapod robot; Hydraulic drive; Low impact; Motion planning;

D O I：

10.3901/JME.2015.03.010

中图分类号：

学科分类号：

摘要：

Foot-terrain contact impact has a significant effect on the movement performance of large-scale heavy legged robot. A low-impact motion planning method of foot trajectory for hydraulically actuated hexapod robot with the goal of smooth movement is proposed. Angle functions of each joint are deduced based on the bionic configuration and kinematics model, and position control functions of hydraulic cylinder piston rod are solved according to the arrangement of hydraulic cylinder hinged points and the geometric relationship of leg. Analysis results indicate that joints and hydraulic cylinders move steady and their velocity and acceleration are continuous. Simulation platform is established based on Vortex, and simulation of walking process by using the proposed method is completed. The vertical fluctuation of body is tiny in the process of stable moving forward, and the lateral migration rates are about 2.1%. This method is applied to the field experiments of hexapod robot prototype. Test results conclude that the joints move smoothly following the desired trajectory, and the foot force is reasonable. The simulation results and experimental results are consistent, and the rationality and feasibility of the foot trajectory planning method is verified. ©, 2015, Editorial Office of Chinese Journal of Mechanical Engineering. All right reserved.

引用

页码：10 / 17

页数：7

共 19 条

[1]

Elena G., Maria A.J., The evolution of robotics research, Robotics and Automation, 3, 10, pp. 90-102, (2007)

[2]

Kalakrishnan M., Buchli J., Pastor P., Et al., Learning, planning, and control for quadruped locomotion over challenging terrain, The International Journal of Robotics Research, 30, 2, pp. 236-258, (2011)

[3]

Kolter J.Z., Andrew Y.N., The Stanford little dog: A learning and rapid replanning approach to quadruped locomotion, The International Journal of Robotics Research, 30, 2, pp. 150-174, (2011)

[4]

Maufroy C., Kimura H., Takase K., Towards a general neural controller for quadrupedal locomotion, Neural Networks, 21, 4, pp. 667-681, (2008)

[5]

Kimura H., Fukuoka Y., Cohen A., Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts, The International Journal of Robotics Research, 26, 5, pp. 475-490, (2007)

[6]

Campbell D., Buehler M., Stair descent in the simple hexapod 'RHex, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 1380-1385, (2003)

[7]

Burden S., Clark J., Weingarten J., Et al., Heterogeneous leg stiffness and roll in dynamic running, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp. 4645-4652, (2007)

[8]

Irawan A., Nonami K., Compliant walking control for hydraulic driven hexapod robot on rough terrain, Journal of Robotics and Mechatronics, 23, 1, pp. 149-162, (2011)

[9]

Irawan A., Nonami K., Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain, Journal of Field Robotics, 28, 5, pp. 690-713, (2011)

[10]

Semini C., Tsagarakis N.G., Guglielmino E., Design of HyQ-a hydraulically and electrically actuated quadruped robot, Journal of Systems and Control Engineering, 225, 6, pp. 831-849, (2011)

← 1 2 →