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] Dynamic Modeling of Energy efficient Crab Walking of Hexapod Robot
    Roy, Shibendu Shekhar
    Pratihar, Dilip Kumar
    MECHANICAL AND AEROSPACE ENGINEERING, PTS 1-7, 2012, 110-116 : 2730 - +
  • [42] Research on Gait Planning and Static Stability of Hexapod Walking Robot
    Zhang, Chunyang
    Jiang, Xianzhi
    Teng, Minliang
    Teng, Jun
    2015 8TH INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND DESIGN (ISCID), VOL 2, 2015, : 176 - 179
  • [43] How to optimize the slope walking motion by the quadruped walking robot
    Komatsu, Hirone
    Endo, Gen
    Hodoshima, Ryuichi
    Hirose, Shigeo
    Fukushima, Edwardo F.
    ADVANCED ROBOTICS, 2015, 29 (23) : 1497 - 1509
  • [44] Stair climbable hexapod walking robot (1st report. Design and control of hexapod walking robot with fixed gait, 'MELCRAB-1,' and design of self contained hexapod walking robot with semi-fixed gait, 'MELCRAB-2.')
    Koyachi, Noriho
    Adachi, Hironori
    Nakamura, Tatsuya
    Nakano, Eiji
    Kikai Gijutsu Kenkyusho Shoho/Journal of Mechanical Engineering Laboratory, 1992, 46 (02): : 94 - 112
  • [45] STAIR-CLIMBABLE HEXAPOD WALKING ROBOT (1ST REPORT - DESIGN AND CONTROL OF HEXAPOD WALKING ROBOT WITH FIXED GAIT, MELCRAB-1, AND DESIGN OF SELF-CONTAINED HEXAPOD WALKING ROBOT WITH SEMI-FIXED GAIT, MELCRAB-2)
    KOYACHI, N
    ADACHI, H
    NAKAMURA, T
    NAKANO, E
    JOURNAL OF MECHANICAL ENGINEERING LABORATORY, 1992, 46 (02): : 94 - 112
  • [46] Terrain adaptability strategies statically-stable for a walking hexapod robot
    Sandoval Castro, X. Yamile
    Castillo Castaneda, Eduardo
    REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL, 2019, 16 (03): : 332 - 343
  • [47] Control strategy of stable walking for a hexapod wheel-legged robot
    Chen, Zhihua
    Wang, Shoukun
    Wang, Junzheng
    Xu, Kang
    Lei, Tao
    Zhang, Hao
    Wang, Xiuwen
    Liu, Daohe
    Si, Jinge
    ISA TRANSACTIONS, 2021, 108 : 367 - 380
  • [48] Gait planning and adjustment for a hexapod walking robot with one leg failure
    Zhang, Yan
    Zhang, Hu
    Ma, Wei
    Li, Pan
    Fang, Delei
    AUSTRALIAN JOURNAL OF MECHANICAL ENGINEERING, 2024,
  • [49] Neural Based Obstacle Avoidance with CPG Controlled Hexapod Walking Robot
    Cizek, Petr
    Milicka, Pavel
    Faigl, Jan
    2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2017, : 650 - 656
  • [50] Design of Static Gait Algorithm for Hexapod Subsea Walking Robot: Crabster
    Yoo, Seong Yeol
    Jun, Bong Huan
    Shim, Hyungwon
    TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A, 2014, 38 (09) : 989 - 997
12345