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LICFM3-SLAM: LiDAR-Inertial-Camera Fusion and Multimodal Multilevel Matching for bionic quadruped Inspection robot Mapping

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2025年 74卷

作者： Zhang, Haibing Li, Lin Jiang, Andong Xu, Jiajun Shen, Huan Li, Youfu Ji, Aihong Wang, Zhongyuan Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Lab Locomot Bioinspirat & Intelligent Robots Nanjing 210016 Peoples R China Hefei CSG Smart Robot Technol Co Ltd Hefei 230094 Peoples R China City Univ Hong Kong Dept Mech Engn Hong Kong Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Lab Locomot Bioinspirat & Intelligent Robots Nanjing 210016 Peoples R China Nanjing Univ Aeronaut & Astronaut State Key Lab Mech & Control Aerosp Struct Nanjing 210016 Peoples R China

In comparison to wheeled robots, the locomotion of bionic quadruped robots is more vigorous. Mapping systems should maintain satisfactory robustness and accuracy in various complex real-world scenarios, even when the robot's body experiences intense shaking. To address these challenges, this study proposes a simultaneous localization and mapping (SLAM) system based on LiDAR-inertial-camera fusion and a multimodal multilayer matching algorithm (LICFM3-SLAM). First, a tightly coupled strategy is utilized to fuse LiDAR, inertial, and camera information, introducing a visual-inertial odometry (VIO) subsystem based on adaptive graph inference;thus, high-precision and robust robot state estimation is achieved. Second, inspired by human spatial cognition, the study proposes a multimodal multilayer matching algorithm and utilizes observation data obtained from the camera and LiDAR, thereby achieving accurate and robust data association. Finally, incremental poses are optimized using factor graph optimization methods;thus, a globally consistent 3-D point cloud map is constructed. The proposed system is tested on a public benchmark dataset and applied to a bionic quadruped inspection robot (BQIR), and experiments are conducted in various challenging indoor and outdoor large-scale scenarios. The results reveal that LICFM3-SLAM exhibits high robustness and mapping accuracy while meeting real-time requirements.

关键词： robots Laser radar Simultaneous localization and mapping quadrupedal robots Cameras Accuracy Visualization Sensors Odometry Inspection bionic quadruped robot mapping sensor fusion simultaneous localization and mapping (SLAM)

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Mechanism Design and Performance Analysis of bionic quadruped robot With Spine 40

Mechanism Design and Performance Analysis of Bionic Quadrupe...

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40th Chinese Control Conference (CCC)

作者： Chcn, Guangrong Ma, Ming Guo, Sheng Lu, HuaFeng Cai, Benguang Beijing Jiaotong Univ Robot Res Ctr Beijing 100044 Peoples R China

ISBN: (纸本)9789881563804

In this paper, the mechanical structure of a bionic quadruped robot with a spine is designed and the corresponding performances of different spines are analyzed. Firstly, the mechanisms of leg and spine are designed. And then the kinematics analysis of the leg mechanism is carried out by listing the closed-loop vector of the mechanism using the integral method. Secondly, taking the planning trajectory based on the Bezier curve as the target trajectory of foot end effector, 12 parameters of leg mechanism are optimized to make the error between target and optimized trajectory as small as possible. Finally, a simplified simulation model of quadruped robot is established in ADAMS software, and the performances of the quadruped robot with pure rigid, rigid-flexible coupled passive spine and active spine are compared and analyzed. Comparative simulation shows that the application of rigid-flexible coupled spine could improve the motion speed and reduce the impact force of foot end effector efficiently. This research provides an insight for the locomotion control of legged robots.

关键词： bionic quadruped robot Kinematics Optimization Design Rigid-flexible Coupled Spine

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Embedded Control System Design and Experimental Analysis of bionic quadruped robot

Embedded Control System Design and Experimental Analysis of ...

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26th Chinese Control and Decision Conference (CCDC)

作者： Wang Peng Yu Zhiwei Zhou Cheng Dai Zhendong Nanjing Univ Aeronaut & Astronaut Inst Bioinspired Struct & Surface Engn Nanjing 210016 Jiangsu Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing 210016 Peoples R China Huawei Technol Co Ltd Nanjing 210012 Peoples R China

ISBN: (纸本)9781479937066

The research object of this paper is a small bionic quadruped robot with four degrees of freedom per leg. This robot uses embedded chip called Stm32f103vct6 as the core for its hardware of control system. By the control system, the data packets of gait are sent to digital servos on every joint in a half-duplex communication mode to control rotation angles of servos, so we can control the stable motion of the quadruped robot precisely. Experimental results showed that: during walking the roll angle, pitch angle and yaw angle (RPY angle) of robot body changed lightly, the movement was relatively stable. It validated the design of embedded control system can control the quadruped robot precisely to achieve stable quadruped walking. The small embedded control system has some advantages such as fast processing speed, peripheral scalability and strong storage capacity, so it meets the requirement of intelligent algorithms, low power movement for a bionic quadruped robot.

关键词： bionic quadruped robot Stm32f103vct6 embedded control system.

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Structural Design and Gait Simulation of bionic quadruped robot

Structural Design and Gait Simulation of Bionic Quadruped Ro...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Liu, Dexin Sun, Mingming Qian, Dianwei Beijing Union Univ Coll Robot Beijing Peoples R China Univ Sci & Technol Beijing Basic Expt Ctr Nat Sci Beijing Peoples R China North China Elect Power Univ Sch Control & Comp Engn Beijing Peoples R China

ISBN: (纸本)9781538671740

In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The kinematic equation of legs is established through motion analysisJoint angle functions are solved by inverse kinematics employing legs phases in typical gait planning and the displacement for rods of hydraulic cylinders by mechanism. The toe trajectory is calculated to ensures the smoothness of the robot moving. Experimental results show that the robot walks stably on the even surface, the undulation of body has small amplitude, and the design of prototype is rational and efficient.

关键词： bionic quadruped robot toe trajectory gait planning hydraulic cylinders

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OPTIONAL DESIGN OF LEG STRUCTURE OF bionic quadruped robot

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JOURNAL OF MECHANICS IN MEDICINE AND BIOLOGY 2013年第6期13卷 1-1页

作者： Chen Bin Tang Zhiyong Pei Zhongcai Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

A kind of new bionic quadruped robot-Hound was designed. Determined the structure of the robot body and geometry relationships based on the bionics research, especially the structure of legs which was the root of robot action. According to the problem of abundant leg segments and complicated structure, studied on achieving the optimal design of leg structure so as to increase the workspace area of robot leg and improve the flexibility of robot body. Found the best length ratio of leg segments through the analysis of the workspace, flexibility, obstacle crossing height of robot. These research results provided the reliable theoretical basis for the structure optimization of robot leg and could greatly promote the motor ability of hydraulic quadruped robot.

关键词： bionic quadruped robot leg structure optimal design workspace flexibility

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Optimization Design of Leg Structure Parameters of bionic quadruped robot

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INTEGRATED FERROELECTRICS 2024年第8-9期240卷 1165-1178页

作者： Wu, Shenli Li, Yuhai Liu, Ling Wang, Yulong Yang, Peng Cheng, Zhen Ju, Jiapeng Wang, Junjie Yang, Lupeng He, Yangqian Xian Univ Sch Mech & Mat Engn Xian Peoples R China Shaanxi Key Lab Surface Engn & Remfg Xian Peoples R China Xian Key Lab Intelligent Addit Mfg Technol Xian Peoples R China

In order to improve the performance of bionic quadruped robot, some parameters of leg structure need to be optimized. The kinematic modeling of the leg mechanism of the bionic quadruped robot is analyzed, and the optimization goal is determined. The simulation analyses showed that the improved bacterial foraging algorithm had higher convergence accuracy, and was not easy to fall into local extremum. The improved multi-strategy bacteria foraging optimization algorithm was used to find the optimal leg structure parameters under the original working space. Numerical simulation verifies that the leg structure designed runs smoothly after optimization, which lays a foundation for further research.

关键词： bionic quadruped robot leg mechanism parameter optimization bacterial foraging optimization algorithm multi-strategy fusion

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Gait planning based on bionic quadruped robot

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ENGINEERING RESEARCH EXPRESS 2024年第3期6卷 035231-035231页

作者： Liu, Zhao Huang, Zhe Cui, Yuanhui Dalian Polytech Univ Sch Informat Sci & Engn Dalian 116034 Peoples R China

Based on the ankylosaurus, a four-legged robot structure with 14 degrees of freedom was designed in this study. The kinematic model was established using the Denavit-Hartenberg (D-H) method. The inverse kinematics of the robot was analyzed, and the angle equations of each leg joint were obtained. In order to reduce the kinetic energy generated when leaving the ground and landing, the compound cycloid was modified. The modified foot curve effectively reduces energy and meets the kinematic requirements. On the basis of the foot trajectory, the diagonal leg phase difference was set to 0.5, and the diagonal gait was adopted as the gait of the bionic quadrupled robot. Simulink software was used to construct the simulation environment, and the maximum error of the simulation results and the theoretical step height was 2.05%, and the step length maximum error was 2.39%. During walking, the thigh joint angle was -92.82 degrees to -80.21 degrees, and the hip joint angle was 22.23 degrees to 43.83 degrees. Compared with the simulation trajectory and the theoretical curve, because the experiment did not consider the balance of the fuselage, there was a certain error when the leg was raised to the highest point. Overall, the gait planning strategy designed in this study basically achieves the expected effect, lays a certain foundation for the practical application of the bionic quadruped dinosaur robot, and also provides a reference for the subsequent research.

关键词： bionic quadruped robot gait planning end-of-foot trajectory planning

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Stability Analysis on bionic quadruped robot Based on the Geometric Model

Stability Analysis on Bionic Quadruped Robot Based on the Ge...

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31st Chinese Control Conference

作者： Chen Xin Lou Kunpeng Wu Min Liu Mingliang Cent S Univ Sch Informat Sci & Engn Changsha 410083 Hunan Peoples R China Hunan Engn Lab Adv Control & Intelligent Automat Changsha 410083 Hunan Peoples R China

ISBN: (纸本)9789881563811

According to the requirement for the stability of coordination planning layer of bionic quadruped robot (BQR), this paper proposes a method to estimate the attitude of BQR based on the geometric model of robot, and uses the attitude to obtain the projection of the toe of BQR on the horizontal plane of absolute coordinate system under the walking condition. The polygon enclosed by the projection of the toe is the stability region. By analysing the relation of the polygon and the projection of centroid, we can get the stability of BQR. The numerical analysis is given to demonstrate the validity of the proposed method.

关键词： bionic quadruped robot Geometric model Walking stability

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Study on the effect of bionic quadruped robot and soft soil interaction

Study on the effect of bionic quadruped robot and soft soil ...

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第五届国际仿生工程学术大会(ICBE2016)

作者： Lei JIang Peng Xu Ruina Dang Umanned Ground Vehicle R&D Center China North Vehicle Research Institute

The bionic quadruped robot is widely studied in recent years. Because of its particularity walking mechanism, the main application of environmental conditions could be mountain and plateau and other nonstructured terrain. Therefore, the walking environment of quadruped robot is mainly on the soft soil which could cause some degree of slippage. A quadruped robot prototype's outdoor test results show that the slip rate is obvious influence on the robot dynamics and control algorithm. It is necessary to study the mechanical relationship between the bionic foot and the terrain with soft soil. However, the researches on this field have not too much. In this paper, a model of bionic leg and soft soil interaction was established to study the influences of soft soil loaded and shear behavior on to the robot's traction and power consumption. And then, the dynamic model of quadruped robot and the algorithm of rhythmic motion control were also established, and simulated on hard surface and soft soil surface respectively to analysis the effect of leg-soil interaction on to the behavior of robot performance. The aim is to provide theoretical support for the optimization of the robot's control algorithm on the soft soil surface.

关键词： bionic quadruped robot leg-soil interaction dynamic simulation

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Mechanism Design and Performance Analysis of bionic quadruped robot With Spine

Mechanism Design and Performance Analysis of Bionic Quadrupe...

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第40届中国控制会议

作者： Guangrong Chen Ming Ma Sheng Guo Hua Feng Lu Benguang Cai Robotics Research Center Beijing Jiaotong University

In this paper, the mechanical structure of a bionic quadruped robot with a spine is designed and the corresponding performances of different spines are analyzed. Firstly, the mechanisms of leg and spine are designed. And then the kinematics analysis of the leg mechanism is carried out by listing the closed-loop vector of the mechanism using the integral ***, taking the planning trajectory based on the Bezier curve as the target trajectory of foot end effector, 12 parameters of leg mechanism are optimized to make the error between target and optimized trajectory as small as possible. Finally, a simplified simulation model of quadruped robot is established in ADAMS software, and the performances of the quadruped robot with pure rigid, rigid-flexible coupled passive spine and active spine are compared and analyzed. Comparative simulation shows that the application of rigid-flexible coupled spine could improve the motion speed and reduce the impact force of foot end effector efficiently. This research provides an insight for the locomotion control of legged robots.

关键词： bionic quadruped robot Kinematics Optimization Design Rigid-flexible Coupled Spine

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