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The study of quadruped robots is an important branch of robotics. As is known to all, quadruped robots can go through the rough terrain easily and they are useful in field operation. Whether quadruped robot can interact softly with the environment is an important index to value its property. This paper presents the preliminary research of a quadruped robot, mainly focus on the mechanical design and...
A terrain analysis method with a scanning laser range finder was proposed. For five typical kinds of terrain, including flat ground, vertical wall, slope, step and cuboid obstacle, the method can distinguish them successfully. Comparing with some methods used cameras, it's more simple and has less calculation. For the uneven terrain like slope, step, cuboid obstacle and so on, a leg joint adjustment...
This paper focuses on the control of hexapod locomotion based on a model of artificial central pattern generators (CPGs). CPG-based controllers are capable of producing coordinated patterns in open loops and rhythmic activities in certain joints. However, existing methods usually have too many parameters to set and lack unified expressions to achieve desired gaits for multiple legged robots. In this...
This paper provides a three-dimensional quantitative description method of cockroach movement. An experimental platform is built to observe the locomotion of cockroach, which is made of two parts: a high speed camera is used to record the locomotion, and two mirrors that locate two franks provide visual frames. Mathematical model of the platform was provided so that 3D coordinates of cockroach can...
Plantar pressure distribution and acceleration measurements are important to detect walking postures and states. This paper presents an in-shoe measurement and analysis system to do the detection. In-shoe information is acquired by the circuit board which is attached to the human's shank and transmitted to the remote receiver wirelessly. A real-time display and analysis software is developed. Experiments...
For the purpose of developing a comprehensive set of rehabilitation system, this paper presents a novel design of pressure sensing foot for lower limb exoskeleton. The pressure sensing foot measures plantar pressure and acceleration to give instruction of the contact between human foot and ground and reflects behavior of the wearer. Compared with previous works, the pressure sensing foot described...
The research area of bio-inspired control methods for multi-legged robots and reptile robots has made significant development with the use of central pattern generators (CPGs) in recent years. However, there are still many problems to be solved to learn clearly the structure of CPG to adapt it to different applications. In this article, we use a method to configure CPG which makes the CPG have adaptive...
In this paper, we present a method to plan gait for a four legged robot that we specially design for realizing stability locomotion. Gait is crucial to the four legged robot locomotion, especially when the robot intends to get through irregular terrains adaptively. Compare to six legged robot or more leg robot, four legged robot easily loses its stability and slip up. We firstly analyze the locomotion...
With reference to current biology research achievements of hexapod insects, this paper presents the design and optimization of structure of the bionic hexapod robot, imitating the cockroach body shape and structure features. Tripod Gaits is chosen as the robot's gait which is the most stable and fast gait for hexapod robots. We evaluate the performance of our design by testing it on the simulation...
This article proposes a couple four-bar linkage mechanism for the cockroach robot, which integrates advantages of existing mechanisms. The novel mechanism has a good rigidity and a strong bearing capacity. It can be decoupling controlled and move agilely. Firstly, the movement performance of the mechanism including the backward and forward kinematics is analyzed. Secondly, a decoupling algorithm is...
Through designing a main controller based on the AVR microprocessor, this paper proposes an approach to realize RX-28 multi-Dynamixel control to replace with conventional motor control. In addition, the mechanism of data transmission is designed also in the main controller. Aiming at the shortcoming of Dynamixel RX-28 that cannot be online controlled, a control software is developed under the programming...
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