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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand theiralgorithm can efficiently run onboard and online by using terrain perception information to protect the robotBy relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithmThen, it constructs an optimization function combined with the robot’s state information to select thenext footholds and generate the motion trajectory to control the robot’s locomotion.

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Landing control method of a lightweight four-legged landing and walking robot

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0707-1

Abstract: A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study.The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive

Keywords： landing and walking robot     lunar exploration     buffer landing     compliance control    

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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 2, doi: 10.1007/s11465-024-0784-4

Abstract: Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding challenge.can generate dynamic motion, they all assume infinite energy, making them unsuitable for prolonged robotThis model provides torque to the knee joint, effectively reducing the robot’s energy consumption throughThe benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario

Keywords： dynamic responsiveness     energy dissipation     legged locomotion     parallel joints     quadruped robot    

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A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 3,   Pages 351-364 doi: 10.1007/s11465-020-0594-2

Abstract: This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and aA hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged

Keywords： legged robot     parallel mechanism     mobile machine tool     in-situ machining    

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environmentslocomotion based on different surface materials plays an important role in improving the stability of leggedFinally, 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

Keywords： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittalthis study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robotprediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robotThe lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task spaceConsequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain

Keywords： legged robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular    

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Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Article

Ke Yin, Yue Gao, Feng Gao, Xianbao Chen, Yue Zhao, Yuguang Xiao, Qiao Sun, Jing Sun

Engineering 2024, Volume 35, Issue 4,   Pages 15-31 doi: 10.1016/j.eng.2023.10.018

Abstract: The throwing of the curling rock is a great challenge in robot design and control, and existing curlingA hexapod curling robot that imitates human kicking, sliding, pushing, and curling rock rotating wasSmooth switching between the walking and throwing tasks is realized by the robot's morphology transformationThe robot's controlling parameters, which include the kicking velocity vk , pushingThis robot holds promise for helping ice-makers rectify ice sheet friction or assisting in athlete training

Keywords： Legged robot     Curling robot     Winter Olympics     Mechanism design     Motion planning    

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Explosive Electric Actuator and Control for Legged Robots

Fei Meng,Qiang Huang,Zhangguo Yu,Xuechao Chen,Xuxiao Fan,Wu Zhang,Aiguo Ming

Engineering 2022, Volume 12, Issue 5,   Pages 39-47 doi: 10.1016/j.eng.2021.10.016

Abstract:

Unmanned systems such as legged robots require fast-motion responses for operation in complex environmentsThis study proposes an explosive electric actuator and an associated control method for legged robotsJumping experiments are conducted with typical legged robots to verify the effectiveness of the proposedSingle-legged, quadruped, and humanoid robots jumped to heights of 1.5, 0.8, and 0.5 m, respectively.These are the highest values reported to date for legged robots powered by electric actuators.

Keywords： Electric actuator     Variable transmission     Integral torque control     Legged robot    

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Integrated design of legged mechatronic system

Chin-Yin CHEN, I-Ming CHEN, Chi-Cheng CHENG

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3,   Pages 264-275 doi: 10.1007/s11465-009-0060-7

Abstract: paper presents a system based on the integrated design and experiment for a one degree-of-freedom (DOF) legged

Keywords： integrated design     design for control     legged mechatronic system     computer aided rapid system integration    

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Untethered quadrupedal hopping and bounding on a trampoline

Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 181-192 doi: 10.1007/s11465-019-0559-5

Abstract: In this study, we attempt to solve the problem of controller design with the help of a robot withoutany elastic mounted parts, in which the untethered robot is made to jump on a trampoline.Together with other motion generators based on kinematic law, the robot can perform translational and

Keywords： hopping and bounding gait     compliant mechanism     compliant contact     balance control strategy     legged locomotioncontrol     quadruped robot    

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A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

Kejia LI, Xilun DING, Marco CECCARELL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 219-230 doi: 10.1007/s11465-012-0320-9

Abstract:

This article focuses on the dynamic index and performance of a radial symmetric six-legged robot.At first the structure of the robot is described in brief and its inverse kinematics is presented.leg’s structure and operation for consuming minimum power and avoiding unstable postures of the robotA characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance

Keywords： six-legged robots     dynamic modeling     performance index    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robotThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universitymasticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position changeChewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryOne of the main elements of such a human–robot coupling system is a control system to ensure human–robotThis review aims to summarise the development of human–robot coordination control and the associatedrehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robotThen, human–robot coordination is discussed in terms of three aspects: modelling, perception and control

Keywords： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model    

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Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 195-203 doi: 10.1007/s11465-016-0390-1

Abstract: We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platformA collision avoidance algorithm is introduced for the robot taping manipulation.

Keywords： robot taping     path planning     robot manipulation     3D scanning    

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Tracked robot with underactuated tension-driven RRP transformable mechanism: ideas and design

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 1, doi: 10.1007/s11465-023-0777-8

Abstract: In this paper, a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismaticthe robot has sufficient stability while climbing obstacles.Terrain-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot.Experiments show that the proposed robot could climb platforms with heights up to 33.3% of the robot’s length or cross gaps with widths up to 43.5% of the robot’s length.

Keywords： mechanical design     tracked robot     underactuated mechanisms     RRP mechanism     obstacle crossing strategy    

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Title Author Date Type Operation

Footholds optimization for legged robots walking on complex terrain

Journal Article

Landing control method of a lightweight four-legged landing and walking robot

Journal Article

Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization

Journal Article

A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Journal Article

Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter

Ke Yin, Yue Gao, Feng Gao, Xianbao Chen, Yue Zhao, Yuguang Xiao, Qiao Sun, Jing Sun

Journal Article

Explosive Electric Actuator and Control for Legged Robots

Fei Meng,Qiang Huang,Zhangguo Yu,Xuechao Chen,Xuxiao Fan,Wu Zhang,Aiguo Ming

Journal Article

Integrated design of legged mechatronic system

Chin-Yin CHEN, I-Ming CHEN, Chi-Cheng CHENG

Journal Article

Untethered quadrupedal hopping and bounding on a trampoline

Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG

Journal Article

A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

Kejia LI, Xilun DING, Marco CECCARELL

Journal Article

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Journal Article

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Journal Article

Tracked robot with underactuated tension-driven RRP transformable mechanism: ideas and design

Journal Article