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As the walking speed of the discontinuous crawl gait of the quadruped robot is rather slow, an optimized method is proposed for improving the forward walking velocity. To ensure the walking stability, the adjustment process of the center of gravity (COG) of the robot is divided in two types, lateral movement and forward movement respectively. Based on the definition of the inner support polygon, the...
Based on the basic discontinuous craw gait, this paper proposes an adjustment method of the center of gravity (COG) of the body for the quadruped robot. The method divides the COG adjustment into two parts based on the swing legs of the front and the hind at the next time in one period circle of the gait planning. Before the swing period of the front legs, the COG of the body of the quadruped robot...
A golf swing training system has been designed to allow users to improve their skill through careful guidance along an ideal golf swing trajectory. The training system is designed as a 6-DOF robot manipulator which controls the position and orientation of the golf club grip point. The manipulator's position and velocity kinematics are described using the DH coordinate frame method, from which a closed-form...
This paper presents a novel method based on the velocity disturbance to control the locomotion of a snake-like robot. The inputs are joint torques which are derived from the dynamics equations. The traditional dynamics equations of a snake-like robot are complex, so a simplified dynamics equations are firstly derived based on the differential geometry theory. Then the velocity disturbance is introduced...
Legged robots are superior in terms of agility and versatility while inferior in stability compared to their wheeled or tracked counterparts. Researchers have developed some algorithms for quadruped robots to achieve impact absorption. Unfortunately those robots all refer to dynamic control and have high demands on the hardware performance. In this paper, we present an approach for quadruped robot...
The wall pressing arms of a screw drive in-pipe robot are usually designed by using springs to be elastic. This is because pipe-diameter adaptability and climbing obstacle capability can be enhanced by the elastic arms. However, the axis of the robot deviates from that of the pipe exactly because of elasticity and gravity. Some extra energy is consumed wastefully due to wheel slipping and spring deformation...
This paper presents an optimal design method for a new robot called amphibious transformable robot which can not only perform reconfiguration but also implement tasks in amphibious environment. To satisfy a range of performance requirements for the robot in aquatic and terrestrial environments, the multi-objective optimization method is adopted to design the robot which can achieve the optimal comprehensive...
Fuzzy logic system (FLS) promises an efficient way for obstacle avoidance. However, it is difficult to maintain the correctness, consistency, and completeness of a fuzzy rule base tuned by a human expert. In this paper, a novel approach termed probabilistic fuzzy controller with operant learning (PFCOL) for robot navigation is presented. Operant learning (OL) is a form animal learning way. The key...
Aiming to reduce the computation and implement compliant control, this paper proposes a novel inverse dynamics control strategy based on the floating-base rigid body system. The control strategy assumes that each leg of the quadruped robot organizes itself into an independent autonomous system, a serial robot. Based on this assumption, the kinematics and the dynamics models of the quadruped robot...
Stair-climbing is a necessary capacity for mobile robots. This paper presents an online control method for the stair-climbing of a transformable tracked robot, Amoeba-II, and this robot is also an isomerism-modules robot with different mechanism modules. Based on the reasonable compartmentalization and kinematics analysis of the stair-climbing process, the coordination of the rotations of modules...
Making biomimetic robots move like natural animals is an interesting problem, because this topic involves not only the low level algorithm that controls the movement of robots' bodies and limbs but also the high level control strategy that deals with different kinds of situations. Based on a certain biological assumption, a self-tuning multi-phase CPG for snake robots is proposed. This method imitates...
The reconfiguration is always an important issue for a transformable robot, Amoeba-II. In the shape-shifting process, the friction between the tracks and the ground generally makes it difficult for the robot to finish the transformation and it also consumes much energy. To solve the configuration problem, this paper proposes a dynamic shape-shifting approach for the transformable tracked robot, Amoeba-II...
This paper presents a new Central Pattern Generator (CPG) controller for quadruped robot rhythmic locomotion control. Our CPG controller based on the Wilson-Cowan neural oscillator, which is known as a weakly neural network that generates fundamental rhythmic movements in locomotion of animals. The harmony motion of one leg from the others is controlled with four Wilson-Cowan neural oscillators. By...
A shape-shifting robot “AMOEBA-I” has diverse configurations, and the accessibility of the robot can be reinforced in the narrow space by changing the configurations. In this paper, a path planning method is presented corresponding to the unique reconfiguration ability of this robot. This method can automatically adjust the relation between the rapid movement and the secure mobile position of the...
The control of a snake-like robot is a challenging problem because of the complex dynamics and the unknown environment. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. This paper lays emphasis on the stability and the adaptability of the method. First, the local orbital stability of the movement is explicated based on the maximal Lyapunov exponent...
Performing the dangerous mission such as planetary exploration, reconnaissance, anti-terrorism, and rescue, the mobile robot should be capable of moving in the complex and unpredictable environment where the ground may be soft and hard, even and uneven. To access to such terrain features, a novel robot with the self-adaptive mobile mechanism, named as Amoeba-III, has been proposed and developed. It...
In this paper, we propose a new CPG model for the snake-like robot being able to adapt to different environments. This model can produce typical serpentine, sidewinding and traveling wave locomotion gaits and switch between them automatically based on a simple input signal. The stability of this model is verified and the parameter restrictions are determined. Then, we investigate the relationship...
This paper presents a new solution to the problem of simultaneous localization and mapping (SLAM). Traditional extended Kalman filter (EKF) based SLAM (EKF-SLAM) algorithms describe unknown environments with simple geometric elements, such as points for landmarks. This limits the EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The solution proposed...
The control of a snake-like robot is a challenging problem because of the complex dynamics. In this paper, we present a novel method, called passive creeping, to control the serpentine locomotion of the snake-like robot. The kernel of this method is composed of the following two concepts: 1) dynamic shift brings the tendency toward the serpentine locomotion; and 2) energy links the environments and...
A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot...
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