536 research outputs found
Comparing trotting and turning strategies on the quadrupedal Oncilla Robot
In this paper, we compare three different trotting techniques and five different turning strategies on a small, compliant, biologically inspired quadrupedal robot, the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models. We found that using half ellipses as foot trajectories resulted in the fastest gaits, as well as the highest robustness against parameter changes. Furthermore, we analyzed the importance of using the scapulae for turning, from which we observed that although not necessary, they are needed for turning with a higher speed
In silico case studies of compliant robots: AMARSI deliverable 3.3
In the deliverable 3.2 we presented how the morphological computing ap-
proach can significantly facilitate the control strategy in several scenarios,
e.g. quadruped locomotion, bipedal locomotion and reaching. In particular,
the Kitty experimental platform is an example of the use of morphological
computation to allow quadruped locomotion. In this deliverable we continue
with the simulation studies on the application of the different morphological
computation strategies to control a robotic system
Autonomous Locomotion Mode Transition Simulation of a Track-legged Quadruped Robot Step Negotiation
Multi-modal locomotion (e.g. terrestrial, aerial, and aquatic) is gaining
increasing interest in robotics research as it improves the robots
environmental adaptability, locomotion versatility, and operational
flexibility. Within the terrestrial multiple locomotion robots, the advantage
of hybrid robots stems from their multiple (two or more) locomotion modes,
among which robots can select from depending on the encountering terrain
conditions. However, there are many challenges in improving the autonomy of the
locomotion mode transition between their multiple locomotion modes. This work
proposed a method to realize an autonomous locomotion mode transition of a
track-legged quadruped robot steps negotiation. The autonomy of the
decision-making process was realized by the proposed criterion to comparing
energy performances of the rolling and walking locomotion modes. Two climbing
gaits were proposed to achieve smooth steps negotiation behaviours for energy
evaluation purposes. Simulations showed autonomous locomotion mode transitions
were realized for negotiations of steps with different height. The proposed
method is generic enough to be utilized to other hybrid robots after some
pre-studies of their locomotion energy performances
Development Of Walking Gaits For Quadruped Robot (4-Legged Robot)
The project outcomes of this project are to develop the walking gaits for the
quadruped robot including trotting gait, to produce printed circuit board (PCB) for
the electronic parts of the robot and to improve on the motor torque for better lifting
capability and to model the gaits and implementation of the quadruped robot on
ADAM software. This project is the continuation of the project completed by Mr.
Yee Yuan Bin whereby he managed to develop the control system that enables the
robot to perform crawling gait on the flat and horizontal surface. The control system
designed involves gait control, stability control and motor control. Therefore, the
existing crawling gait is to be improved into trotting gait. Besides, the modelling of
the quadruped robot is to be performed using ADAMS software and the PCB for the
electronic parts of the robot is to be produced in order to reduce the weight of the
body. This project is split to two phases. Phase 1 is to be carried out during semester
FYP 1 while Phase 2 is commenced during FYP 2. The work aspects of phase 1 are
on producing printed circuit board (PCB), modelling the walking gaits using
ADAMS software and also to learn about C programming for PIC18. Phase 2 is the
testing stage with the presence of servomotors and circuit board as well as
improvement and development of the walking gaits. At the end of project, the
quadruped prototype is meant to perform forward trotting gait on flat and horizontal
grounds
Master of Science
thesisThis research studies the passive dynamics of an under-actuated trotting quadruped. The goal of this project is to perform three-dimensional (3D) dynamic simulations of a trotting quadruped robot to find proper leg configurations and stiffness range, in order to achieve stable trotting gait. First, a 3D simulation framework that includes all the six degrees of freedom of the body is introduced. Directionally compliant legs together with different leg configurations are employed to achieve passive stability. Compliant legs passively support the body during stance phase and during flight phase a motor is used to retract the legs. Leg configurations in the robot's sagittal and frontal plane are introduced. Numerical experiments are conducted to search the design space of the leg, focusing on increasing the passive stability of the robot. Increased stability is defined as decreased pitching, rolling, and yawing motion of the robot. The results indicate that optimized leg parameters can guarantee passive stable trotting with reduced roll, pitch, and yaw. Studies suggest that a quadruped robot with compliant legs is dynamically stable while trotting. Results indicate that the robot based on a biological model (i.e., caudal inclination of humeri and cranial inclination of femora) has the best performance. Stiff springs at hips and shoulders, soft spring at knees and elbows, and stiff springs at ankles and wrists are recommended. The results of this project provide a conceptual framework for understanding the movements of a trotting quadruped
- …