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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg-arm integration

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Frontiers of Mechanical Engineering 2022年第1期17卷 50-69页

作者： Yi ZHENG Kun XU Yaobin TIAN Xilun DING School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

With the widespread application of legged robot in various fields,the demand for a robot with high locomotion and manipulation ability is increasing.Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability.Hence,this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra arm.The manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation condition.The former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing case.For the fixed coordinated clamping case,the degrees of freedom(DOFs)analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are established.For the fixed coordinated shearing case,the coordinated working space is determined,and an ideal coordinated manipulation ball is presented to guide the coordinated shearing task.In addition,the constraint analysis of two adjacent integrated limbs is performed.Then,mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition,including gait switching analysis between hexapod gait and pentapod gait,different pentapod gaits analysis,and a complex six-DOF manipulation while walking.Corresponding experiments are implemented,including clamping tasks with two integrated limbs,coordinated shearing task by using two integrated limbs,and mobile manipulation with pentapod gait.This robot provides a new approach to building a multifunctional locomotion platform.

关键词： leg-arm integration hexapod robot fixed coordinated manipulation mobile manipulation

Development of a Bionic hexapod robot for Walking on Unstructured Terrain

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Journal of Bionic Engineering 2014年第2期11卷 176-187页

作者： He Zhang Yubin Liu Jie Zhao Jie Chen Jihong Yan State Key Lab of robotics and System Harbin Institute of Technology Harbin 150080 P. R. China

This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.

关键词： hexapod robot structure optimization posture control force distribution force compensation

Gait Analysis of a Radial Symmetrical hexapod robot Based on Parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2014年第5期27卷 867-879页

作者： XU Kun DING Xilun robotics Institute Beihang University

Most gait studies of multi-legged robots in past neglected the dexterity of robot body and the relationship between stride length and body height.This paper investigates the performance of a radial symmetrical hexapod robot based on the dexterity of parallel mechanism.Assuming the constraints between the supporting feet and the ground with hinges,the supporting legs and the hexapod body are taken as a parallel mechanism,and each swing leg is regarded as a serial manipulator.The hexapod robot can be considered as a series of hybrid serial-parallel mechanisms while walking on the ground.Locomotion performance can be got by analyzing these equivalent mechanisms.The kinematics of the whole robotic system is established,and the influence of foothold position on the workspace of robot body is analyzed.A new method to calculate the stride length of multi-legged robots is proposed by analyzing the relationship between the workspaces of two adjacent equivalent parallel mechanisms in one gait cycle.Referring to service region and service sphere,weight service sphere and weight service region are put forward to evaluate the dexterity of robot body.The dexterity of single point in workspace and the dexterity distribution in vertical and horizontal projection plane are demonstrated.Simulation shows when the foothold offset goes up to 174 mm,the dexterity of robot body achieves its maximum value 0.164 4 in mixed gait.The proposed methods based on parallel mechanisms can be used to calculate the stride length and the dexterity of multi-legged robot,and provide new approach to determine the stride length,body height,footholds in gait planning of multi-legged robot.

关键词： hexapod robot parallel mechanism kinematics stride length dexterity weight service sphere

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

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Frontiers of Mechanical Engineering 2021年第2期16卷 271-284页

作者： Yue ZHAO Feng GAO Qiao SUN Yunpeng YIN State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification hexapod robot legged robot adaptive locomotion gait control

An adaptive locomotion controller for a hexapod robot: CPG, kinematics and force feedback

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Science China(Information Sciences) 2014年第11期57卷 223-240页

作者： CHEN WeiHai REN GuanJiao WANG JianHua LIU Dong School of Automation Science and Electrical Engineering Beihang University

Insects can perform versatile locomotion behaviors such as multiple gaits, adapting to different terrains, fast escaping, etc. However, most of the existing bio-inspired legged robots do not possess such walking ability, especially when they walk on irregular terrains. To tackle this challenge, a central pattern generator(CPG)-based locomotion control methodology is proposed, integrated with a contact force feedback function. In this approach, multiple gaits are produced by the CPG module. After passing through a post-processing circuit and a delay-line, the control signal is fed into six trajectory generators to generate predefined feet trajectories for the six legs. Then, force feedback is employed to adjust these trajectories so as to adapt the robot to rough terrains. Finally the regulated trajectories are sent to inverse kinematics modules such that the position control instructions are generated to control the actuators. In both simulations and real robot experiments, we consistently show that the robot can perform sophisticated walking patterns. What is more, the robot can use the force feedback mechanism to deal with the irregularity in rough terrain. With this mechanism, the stability and adaptability of the robot are enhanced. In conclusion, the CPG-base control is an effective approach for legged robots and the force feedback approach is able to improve walking ability of the robots, especially when they walk on irregular terrains.

关键词： hexapod robot locomotion control central pattern generator(CPG) kinematics force feedback

Biomimetic Experimental Research on hexapod robot's Locomotion Planning

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Journal of Beijing Institute of Technology 2009年第1期18卷 27-31页

作者：黄麟韩宝玲罗庆生张春林徐嘉 School of Mechanical and Vehicular Engineering Beijing Institute of Technology School of Aerospace Science and Engineering Beijing Institute of Technology

To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots＇ leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs＇ falling points. The last two give criterions of multi-legged robots＇ toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion.

关键词： biomimetic experimental research hexapod robot locomotion planning trajectory planning polynomial curve fitting

Footholds optimization for legged robots walking on complex terrain

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机械工程前沿:英文版 2023年第2期18卷 99-114页

作者： Yunpeng YIN Yue ZHAO Yuguang XIAO Feng GAO State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China AI Institute School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains.The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles,and to improve its stability and safety when walking on complex terrain.By relying on the depth camera installed on the robot and obtaining the terrain heightmap,the algorithm converts the discrete grid heightmap into a continuous costmap.Then,it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion.Compared with most existing footholds selection algorithms that rely on discrete enumeration search,as far as we know,the proposed algorithm is the first to use a continuous optimization method.We successfully implemented the algorithm on a hexapod robot,and verified its feasibility in a walking experiment on a complex terrain.

关键词： footholds optimization legged robot complex terrain adapting hexapod robot locomotion control

An adaptive step-climbing method for a RHex-style robot

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An adaptive step-climbing method for a RHex-style robot