Torque Constraints for Hexapod Robot Slope Walking

被引：0
作者：
Ge, Tianle [1 ]
Wang, Hesheng
Chen, Weidong
Gui, Bowen
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
来源：
2014 IEEE 4TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2014年
关键词：
hexapod robot; torque constraint; stability margin constrain; gait planning; unstructured environment; RHEX;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on the problem of the gait planning of a hexapod robot in order to improve its practicability. Gait planning based on the torque constraints and the stability margin constrains is proposed. The gait planning on the ground plane is introduced with combining with the mechanism specification of the hexapod robot, and the torque constraints and the stability margin constrains on the ground plane is proposed with the kinematic analysis and force analysis. Then the key constraints for gait planning on the slope are proposed to deal with a more realistic problem. The algorithm analysis can prove the variation of the key control variable under the two constrains. Simulation results are presented to support the proposed algorithm.
引用
收藏
页码：49 / 54
页数：6
相关论文
共 50 条
  • [41] Gait planning of quadruped robot walking on a slope based on static balance
    Zhang, Wen-yu
    Zhang, Lei
    MECHATRONICS, ROBOTICS AND AUTOMATION, PTS 1-3, 2013, 373-375 : 282 - +
  • [42] The System Design and Gait Planning for Walking-Climbing Hexapod
    Wei, Wu
    Sun, Jinquan
    Gao, Yong
    Yao Yeboah
    Huang, Linqing
    3RD INTERNATIONAL CONFERENCE ON INNOVATION IN ARTIFICIAL INTELLIGENCE (ICIAI 2019), 2019, : 208 - 212
  • [43] OPTIMIZATION OF HEXAPOD ROBOT LOCOMOTION
    Luneckas, Tomas
    Udris, Dainius
    ECT 2009: ELECTRICAL AND CONTROL TECHNOLOGIES, 2009, : 40 - 43
  • [44] Gait Generation With Smooth Transition Using CPG-Based Locomotion Control for Hexapod Walking Robot
    Yu, Haitao
    Gao, Haibo
    Ding, Liang
    Li, Mantian
    Deng, Zongquan
    Liu, Guangjun
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (09) : 5488 - 5500
  • [45] Development of Hexapod Robot for Machining
    Choi, Sunghee
    Cho, Chang Nho
    Kim, Hong-Ju
    2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2015, : 738 - 740
  • [46] The Workspace of a Double Hexapod Robot
    Margaritescu, M.
    Brisan, C.
    Alexandrescu, N.
    Roat, C.
    Ivan, A. M. E.
    Vaduva, V.
    2ND INTERNATIONAL CONFERENCE ON INNOVATIONS, RECENT TRENDS AND CHALLENGES IN MECHATRONICS, MECHANICAL ENGINEERING AND NEW HIGH-TECH PRODUCTS DEVELOPMENT (MECAHITECH '10), 2010, : 61 - 65
  • [47] Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy
    Zhu, Yaguang
    Guo, Tong
    Liu, Qiong
    Zhu, Qianwei
    Zhao, Xiangmo
    Jin, Bo
    SENSORS, 2017, 17 (12)
  • [48] The gait planning of hexapod robot based on CPG with feedback
    Wang, Binrui
    Zhang, Ke
    Yang, Xuefeng
    Cui, Xiaohong
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 17 (03)
  • [49] Quadruped robot omni-directional walking on a slope based on static balance
    Zhang, Wen-yu
    Zhang, Lei
    MANUFACTURING ENGINEERING AND AUTOMATION II, PTS 1-3, 2012, 591-593 : 1436 - +
  • [50] Development of Simulator and Analysis of Walking for Hexapod Robots
    Tanaka, Genji
    Takamura, Tetsuta
    Shimura, Yuki
    Motegi, Kazuhiro
    Shiraishi, Yoichi
    2019 58TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 2019, : 1594 - 1599
12345