116 research outputs found
A literature review on the optimization of legged robots
Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged
systems present major advantages when compared with ‘traditional’ vehicles, because they allow locomotion in inaccessible
terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy
consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present
state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind,
this paper presents the review of the literature of different methods adopted for the optimization of the structure
and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred
approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters
and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes
An Overview of Legged Robots
The objective of this paper is to present the evolution and the state-of-theart in the area of legged locomotion systems. In a first phase different possibilities for mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase an historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones on the technological and scientific progress. After this historical timeline, some of the present day systems are examined and their performance is analyzed. In a third phase are pointed out the major areas for research and development that are presently being followed in the construction of legged robots. Finally, some of the problems still unsolved, that remain defying robotics research, are also addressed.N/
Aerospace medicine and biology. A continuing bibliography with indexes, supplement 195
This bibliography lists 148 reports, articles, and other documents introduced into the NASA scientific and technical information system in June 1979
Design Issues for Hexapod Walking Robots
Hexapod walking robots have attracted considerable attention for several decades. Many studies have been carried out in research centers, universities and industries. However, only in the recent past have efficient walking machines been conceived, designed and built with performances that can be suitable for practical applications. This paper gives an overview of the state of the art on hexapod walking robots by referring both to the early design solutions and the most recent achievements. Careful attention is given to the main design issues and constraints that influence the technical feasibility and operation performance. A design procedure is outlined in order to systematically design a hexapod walking robot. In particular, the proposed design procedure takes into account the main features, such as mechanical structure and leg configuration, actuating and driving systems, payload, motion conditions, and walking gait. A case study is described in order to show the effectiveness and feasibility of the proposed design procedure
Dynamic Legged Mobility---an Overview
Ability to translate to a goal position under the constrains imposed by complex environmental conditions is a key capability for biological and artificial systems alike. Over billions of years evolutionary processes have developed a wide range of solutions to address mobility needs in air, in water and on land. The efficacy of such biological locomotors is beyond the capabilities of engineering solutions that has been produced to this date. Nature has been and will surely remain to be a source of inspiration for engineers in their quest to bring real mobility to their creations. In recent years a new class of dynamic legged terrestrial robotic systems \cite{Autumn-Buehler-Cutkosky.SPIE2005,Raibert.Book1986,Raibert-Blankesport-Nelson.IFAC2008,Saranli-Buehler-Koditschek.IJRR2001} have been developed inspired by, but without mimicking, the examples from the Nature. The experimental work with these platforms over the past decade has led to an improved appreciation of legged locomotion. This paper is an overview of fundamental advantages dynamic legged locomotion offers over the classical wheeled and tracked approaches
Optimization Based Motion Planning for Multi-Limbed Vertical Climbing Robots
Motion planning trajectories for a multi-limbed robot to climb up walls
requires a unique combination of constraints on torque, contact force, and
posture. This paper focuses on motion planning for one particular setup wherein
a six-legged robot braces itself between two vertical walls and climbs
vertically with end effectors that only use friction. Instead of motion
planning with a single nonlinear programming (NLP) solver, we decoupled the
problem into two parts with distinct physical meaning: torso postures and
contact forces. The first part can be formulated as either a mixed-integer
convex programming (MICP) or NLP problem, while the second part is formulated
as a series of standard convex optimization problems. Variants of the two wall
climbing problem e.g., obstacle avoidance, uneven surfaces, and angled walls,
help verify the proposed method in simulation and experimentation.Comment: IROS 2019 Accepte
Hexapod robot stability research
El trabajo consiste en una primera parte en la que se estudia analÃticamente la composición del robot hexápodo, descomponiéndolo en sus diferentes componentes fÃsicos asà como una introducción a la estabilidad del robot, tipos de estabilidad y métodos para su análisis.Grado en IngenierÃa en Electrónica Industrial y Automátic
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