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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 environmentsThe knowledge of various ground properties and adaptive locomotion based on different surface materialsplays an important role in improving the stability of legged robots.A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedThen, an adaptive locomotion on different ground properties is proposed.

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

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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 theirinformation to select the next 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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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: For quadruped robots with springy legs, a successful jump usually requires both suitable elastic parts and well-designed control algorithms. However, these two problems are mutually restricted and hard to solve at the same time. In this study, we attempt to solve the problem of controller design with the help of a robot without any elastic mounted parts, in which the untethered robot is made to jump on a trampoline. The differences between jumping on hard surfaces with springy legs and jumping on springy surfaces with rigid legs are briefly discussed. An intuitive control law is proposed to balance foot contact forces; in this manner, excessive pitch oscillation during hopping or bounding can be avoided. Hopping height is controlled by tuning the time delay of the leg stretch. Together with other motion generators based on kinematic law, the robot can perform translational and rotational movements while hopping or bounding on the trampoline. Experiments are conducted to validate the effectiveness of the proposed control framework.

Keywords： hopping and bounding gait     compliant mechanism     compliant contact     balance control strategy     legged locomotion    

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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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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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Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree

Yanlin HAO, Yaobin TIAN, Jianxu WU, Yezhuo LI, Yan-An YAO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 3,   Pages 365-373 doi: 10.1007/s11465-020-0585-3

Abstract: A novel passive rolling locomotion is also developed, which enables the robots to roll and stand on aTo verify the design, two prototypes are manufactured, wherein the dynamic and passive rolling locomotion

Keywords： rolling locomotion     expandable mechanism     mechanism design     zero moment point (ZMP) analysis    

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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.

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

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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.A 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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Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot

LU Zhen-li, MA Shu-gen, LI Bin, WANG Yue-chao

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 4,   Pages 396-402 doi: 10.1007/s11465-006-0046-7

Abstract: The rhythmic locomotion of a creature is a self-excitation behavior of the CPG (central pattern generatorparameter setting of the CPG controller to modulate the number of S shapes, the curve of the body shape, locomotionvelocity, and the curve of the locomotion trajectory for serpentine locomotion.Moreover, we demonstrated that Perambulator-I can successfully exhibit serpentine locomotion by using
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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0760-4

Abstract: Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots

Keywords： multi-information fusion     contact detection     quadruped robot     probabilistic contact model     unstructured terrain    

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract:

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Keywords： human locomotion     walking gait     characterization     humanoid robot     biped robot    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion

Keywords： measuring     distance     autonomous locomotion     advantage     navigation    

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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 sagittal

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

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Watt Linkage–Based Legged Deployable Landing Mechanism for Reusable Launch Vehicle: Principle, Prototype Article

Haitao Yu,Baolin Tian,Zhen Yan,Haibo Gao,Hongjian Zhang,Huiqiang Wu,Yingchao Wang,Yuhong Shi,Zongquan Deng

Engineering 2023, Volume 20, Issue 1,   Pages 120-133 doi: 10.1016/j.eng.2022.05.015

Abstract: This study proposes a novel legged deployable landing mechanism (LDLM) for RLV.

Keywords： Reusable launch vehicle (RLV)     Deployable mechanism     Optimization design    

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Title Author Date Type Operation

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Footholds optimization for legged robots walking on complex terrain

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 novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Journal Article

Integrated design of legged mechatronic system

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

Journal Article

Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree

Yanlin HAO, Yaobin TIAN, Jianxu WU, Yezhuo LI, Yan-An YAO

Journal Article

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

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

Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot

LU Zhen-li, MA Shu-gen, LI Bin, WANG Yue-chao

Journal Article

Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Journal Article

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

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

Watt Linkage–Based Legged Deployable Landing Mechanism for Reusable Launch Vehicle: Principle, Prototype

Haitao Yu,Baolin Tian,Zhen Yan,Haibo Gao,Hongjian Zhang,Huiqiang Wu,Yingchao Wang,Yuhong Shi,Zongquan Deng

Journal Article