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This paper presents a novel locomotion control framework that achieves stable galloping gait for a torque-controlled quadruped robot. By analytically exploiting the stance dynamics of the Spring-Loaded Inverted Pendulum (SLIP) model, a two-layered Dual-SLIP model based Task-space Formulation (DS-TSF) is developed to control the 12-DoF quadruped robot with an active spine. On the higher layer, a dead-beat...
In order to achieve the grasping mission in deep space, a novel and highly underactuated robotic hand which composed of bars and tendons, is proposed. The hand contains two fingers, and each finger has three joints controlled by a single motor during the grasping process. To describe the structure and the grasping properties of the of tendon-bar robotic hand, one finger is taken as research object...
This paper focuses on mechanical property of a articulated multi-unit wheel type in-pipe locomotion robot system. Through establishing the posture model of the robot system, can get the coordinates of wheel center and its corresponding contact point with pipe wall of each wheel for robot unit. Based on the posture model, the mechanical model of the robot unit is presented and the analysis is carried...
The ability to open a door is essential for robots to perform home-serving and rescuing tasks. A substantial problem is to obtain the necessary parameters such as the width of the door and the length of the handle. Many researchers utilize computer vision techniques to extract the parameters automatically which lead to fine but not very stable results because of the complexity of the environment....
It's considered as a task that a robot welds under the state of emergency and patrols daily in the nuclear reaction pool. A design scheme of underwater welding robot with cables is proposed, which move in all direction, has a function of pitching and absorb on the wall surface by thrust of propellers. In this paper in order to achieve for the precise control of the underwater robot, a dynamic equation...
Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based...
Gait parameters play a significant role in the locomotion of a hexapod walking robot used for different goals. Stride length and frequency are the two most important and useful gait parameters of hexapod robots. This paper presents the configuration of a hydraulic hexapod walking robot. The typical gaits of hexapod robot are introduced and the kinematic model of the robot is established. Four performance...
Center of mass domain of a hexapod robot must be determined in order to analyze the mobility performance and accomplish the high-fidelity simulation. Hexapod robot is simplified as a system of particles based on the structure characteristics of the developed hydraulically actuated hexapod robot. Position vectors of all mass points are established by coordinate transformation. Center of mass position...
Wheeled exploration robots are prone to slip during locomotion on deformable rough planetary terrain, which leads to loss of velocity and extra consumption of energy. Experimental results show that the power required for driving a wheel is an increasing function of its slip ratio; further, the tractive efficiency decreases rapidly after it reaches a peak value when the slip ratio is between 0.05 and...
A wheel-type pipeline robot applying a tri-axial differential mechanism is presented in this paper, which is targeted for moving inside the elbow while the ratios of angular velocities of the driving wheels depend on their movement trajectories. The main features of the robot are illustrated and some details about the mechanism are provided. To confirm the differential effectiveness of the robot,...
Motion control of a lunar rover is precondition of accomplishing exploration tasks. In order to minimize the power consumption, the power optimum control was carried out for a lunar rover prototype with six cylinder-conical wheels in wheel-walking motion mode. In terms of mechanism principle and configuration features of the lunar rover, the kinematics model of wheel-walking motion was built up. The...
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