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Design and Analysis of a multi-legged robot with Pitch Adjustive Units

Chinese Journal of Mechanical Engineering 2021年第3期34卷 226-242页

作者： Qiang Ruan Jianxu Wu Yan-an Yao Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China

The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle *** only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex *** leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting *** pitch adjustment in leg unit requires as few independent adjusting actuators as *** on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and *** configuration of the robot is designed to obtain a compact structure and pragmatic *** uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are *** the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried *** results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.

关键词： Mechanical leg multi-legged robot Obstacle surmounting Adjustive pitch Leg unit

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Undulatory gait planning method of multi-legged robot with passive-spine

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Biomimetic Intelligence & robotics 2022年第1期2卷 1-8页

作者： Yongchen Tang Guoteng Zhang Dingxin Ge Chao Ren Shugen Ma School of Itelligence and Information Engineering Tangshan University Tangshan 063000China Schoo of Control Science and Engineering Shandong University Jinan 250061China Tangshan Shinh Ieligent Techuology Co.Itd Tangshan 063000China School of Electrical and Information Engineering Tianjin University Tianjin 300072China Departnent of robotics Ritsumeikan University Shiga 5258577Japan

In this paper,we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom in each leg and has a passive body joint between two body *** firstly introduce the Finite State Machine(FSM)to the undulatory gait planning method of the 2n-legged ***,the undulatory gait sequence for straight line motion is achieved by undulations *** idea that legged locomotion is achievable by less actuation of 2n-legged robot as well as the gait planning methods are verified finally by simulations and experiments.

关键词： multi-legged robot Undulatory gait FSM Gait planning Passive-spine

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Effects of Pendular Waist on Gecko＇s Climbing： Dynamic Gait, Analytical Model and Bio-inspired robot

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Journal of Bionic Engineering 2017年第2期14卷 191-201页

作者： Wei Wang Xuepeng Li Shilin Wu Peihua Zhu Fei Zhao robotics Institute Beihang University Beijing 100191 China CRRC Qingdao Sifang Co. Ltd. Qingdao 266111 China

Most quadruped reptiles, such as lizards, salamanders and crocodiles, swing their waists while climbing on horizontal or vertical surfaces. Accompanied by body movement, the centroid trajectory also becomes more of a zigzag path rather than a straight line. Inspired by gecko＇s gait and posture on a vertical surface, a gecko inspired model with one pendular waist and four active axil legs, which is called GPL model, is proposed. Relationship between the waist position, dynamic gait, and driving forces on supporting feet is analyzed. As for waist trajectory planning, a singular line between the supporting feet is found and its effects on driving forces are discussed. Based on the GPL model, it is found that a sinusoidal waist trajectory, rather than a straight line, makes the driving forces on the supporting legs smaller. Also, a waist close to the pygal can reduce the driving forces compared to the one near middle vertebration, which is in accord with gecko＇s body bending in the process of climbing. The principles of configuration design and gait planning are proposed based on theoretical analyses. Finally, a bio-inspired robot DracoBot is developed and both of the driving force measurements and climbing experiments reinforce theoretical analysis and the rationality of gecko＇s dynamic gait.

关键词： multi-legged robot wall-climbing robot dynamic gait pendular waist GPL model

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Typical Gait Analysis of a Six-legged robot in the Context of Metamorphic Mechanism Theory

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 771-783页

作者： XU Kun DING Xilun robotics Institute Beihang University

The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Four typical tripod period gaits of a radial symmetrical six-legged robot are analyzed. Similar to the metamorphic mechanism, the locomotion of multi-legged robot is considered as a series of varying hybrid serial-parallel mechanisms by assuming the constraints of the feet on the ground with hinges. One gait cycle is divided into several periods, and in different walking period there is a specific equivalent mechanism corresponding to it, and the walking process of multi-legged robot is composed by these series of equivalent mechanisms. Walking performance can be got by analyzing these series of equivalent mechanisms. Kinematics model of the equivalent mechanism is established, workspaces of equivalent mechanisms are illustrated by simulation and a concept of static stability workspace is proposed to evaluate the static stability of these four gaits. A new method to calculate the stride length of multi-legged robots is presented by analyzing the relationship between the workspace of two adjacent equivalent parallel mechanisms in one gait cycle. The stride lengths of four gaits are given by simulations. Comparison of stride length and static stability among these four typical tripod gaits are given. It has been proved that mixed gait and insect-wave gait II have better static stability than mammal kick-off gait and insect-wave gait I. Insect-wave gait II displays its advantage on stride length while the height of robot body lower than 87 mm, mammal kick-off gait has superiority on stride length while the height of robot body higher than 115 mm, and insect-wave gait I shows its shortcoming in stride length. The proposed method based on metamorphic theory and combining the footholds and body height of robot provides a new method to comprehensive analyze the

关键词： multi-legged robot gait comparison stride length static stability

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