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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...
Force distribution is an important problem for the legged robots with active force control, the allocation of the foot forces can also achieve a desired force and torque on the hexapod robot. This paper presents a force distribution algorithm for redundant problem reduction, linearization and reducing the internal force. Combining the distribution algorithm with force control, the robot can walk on...
Ground-based experiment of human locomotion in microgravity needs to partially compensate the influence of the earth gravity. This paper presents a novel design and preliminary experiment of an active suspension gravity compensation system, which can apply a desired constant vertical force at human body for physically simulating human walking in microgravity. The system composed of a passive static...
This paper presents a methodical design of the electro-hydraulic control system for a large scale hydraulically driven six-legged robot, which can walk on rough terrain. Considering the widely varying load during the locomotion cycles, the electro-hydraulic control system should be capable of effectively handling widely varying load and possess high control bandwidth. To address these issues, a two-stage...
This paper presents a locomotion control method based on central pattern generator (CPG) for hexapod walking robot to achieve gait generation with smooth transition. By deriving an analytical limit cycle approximation of the Van der Pol oscillator, a simple diffusive coupling scheme is proposed to construct a ring-shape CPG network with phase-locked behavior. The stability of the proposed network...
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...
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