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multi-legged robot BASED ON SINGLE CONTINUOUS DRIVING BIONIC LEG

INTERNATIONAL JOURNAL OF robotICS & AUTOMATION 2019年第6期34卷 610-618页

作者： Zang, Hongbin Zhao, Dengfeng Shen, Lianguan Univ Sci & Technol China USTC Dept Precis Machinery & Precis Instrumentat Hefei 230027 Anhui Peoples R China Southwest Univ Sci & Technol SWUST Dept Mech Engn Mianyang 621010 Sichuan Peoples R China

A design strategy of multi-legged robot based on single continuous driving bionic leg is proposed. This kind of bionic leg needs only one driving motor mounted directly on the robot body, which can transform the continuous rotation of the motor to the back-and-forth swinging of the leg. Taking Jansen linkage as an example, through the theoretical analysis, virtual prototype function simulation and the performance test of the physical prototype, we realize the functions of walking, turning and climbing. To overcome the shortcomings of Jansen linkage, such as the singleness of foot motion trajectory and poor terrain adaptability, the system optimization and innovation design of the Jansen-linkage mechanism are carried out. The improved mechanism not only inherits the original advantages of Jansen linkage but also promotes the ability of obstacle crossing. By simulation experimental analysis, we prove the feasibility of the improved mechanism. The proposed strategy provides a reference for the multi-legged robot with simple controlling and low cost.

关键词： multi-legged robot single drive optimization innovation design

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multi-legged robot for rough terrain: SHINAYAKA-L VI

Multi-legged robot for rough terrain: SHINAYAKA-L VI

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Aso, Yuto Aihara, Kazuki Ito, Kazuyuki Hosei Univ 3-7-2 Kajino Chou Koganei Tokyo 1848584 Japan

ISBN: (纸本)9781728134802

There has been an increase in the interest and research on robots that can operate in complex environments. This has led to the use of robots in search and rescue missions and in maintenance and inspection of infrastructures. Various multi-legged robots have been developed with the capability of moving on rough terrain;these can potentially assist "search and rescue" operations following large-scale disasters such as earthquakes. However, it is difficult to control multi-legged robots in real time because large amounts of information must be processed for them to move, involving a considerable computational cost. This is owing to the many independent members of the robot with different degrees of freedom i.e., the body and the legs. We developed a flexible mechanism that passively adapts to complex environments and a robot leg mechanism that switches its stiffness between a hard mode for generating a driving force and a soft mode for passively avoiding obstacles. Further, we developed a prototype robot and conducted experiments;this robot was demonstrated to move on different terrains.

关键词： multi-legged robot flexible leg lock mechanism rough terrain

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multi-legged robot system for deep space exploration

Multi-legged robot system for deep space exploration

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10th International Symposium on robotics and Applications held at the 6th Biannual World Automation Congress

作者： Kubota, T Katoh, H Toyokawa, T Nakatani, I ISAS JAXA Japan

ISBN: (纸本)1889335215

Planetary rovers are required to explore rough and steep areas such as craters and cliffs to achieve scientific goals. Most of the proposed rovers have some wheels to move on a planetary surface. However, it is difficult to traverse on a rough terrain flexibly. A legged rover can provide higher capability of moving in such a rough terrain than wheeled robots. Therefore the authors have studied a small and lightweight rover which can move across a rough terrain such as a steep slope inside craters. This paper presents the system design concept, architecture, and configuration of the walking rover for planetary exploration. This paper also proposes a new walking algorithm on a rough terrain.

关键词： multi-legged robot planetary exploration walking algorithm free gait micro rover architecture weight arrangement

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Design and Analysis of a multi-legged robot with Pitch Adjustive Units

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Chinese Journal of Mechanical Engineering 2021年第3期34卷 226-242页

作者： Qiang Ruan Jianxu Wu Yan-an Yao Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China

The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle *** only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex *** leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting *** pitch adjustment in leg unit requires as few independent adjusting actuators as *** on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and *** configuration of the robot is designed to obtain a compact structure and pragmatic *** uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are *** the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried *** results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.

关键词： Mechanical leg multi-legged robot Obstacle surmounting Adjustive pitch Leg unit

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multi-legged robot that Can be Assembled by Two-wheeled Self-balance robots

Multi-legged Robot that Can be Assembled by Two-wheeled Self...

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3rd International Conference on Automatic Control and Mechatronic Engineering (ICACME)

作者： Li, Shuohui Song, Xiang Tai' an Shandong Province China

ISBN: (纸本)9783038351993

In this paper, a multi-legged robot that can be assembled by self-balance robots that have two multi-degree-of-freedom limbs is proposed. This type of robot has a more efficient way to travel all kinds of territory: not like normal multi-legged robots which has to use legs to move on flat surface like a roads, it can move like vehicle using wheels on the end of its legs;and not like two wheels self-balance vehicles which cannot travel on rocky surface, it can use its limbs to walk on complex surface. And by separate to several single robots, it can move through some narrow territory. And by combined as a multi-legged robot, it can have a much heavier payload than a single self-balance robot.

关键词： multi-legged robot self-balance robot self-assembly robot

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Kinematic design of a novel multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration

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robotICA 2022年第10期40卷 3699-3725页

作者： Wen, Qingpeng He, Jun Gao, Feng Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China

multi-legged robots with rigid-flexible coupling grippers have appealing applications to asteroid exploration with the microgravity. However, these robots usually have significantly complicated structures, which leads to a great challenge for the kinematic *** paper proposes the kinematic design method for a novel multi-legged robot with the microspine gripper. First, the structure of the multi-legged asteroid exploration robot and the microspine gripper are demonstrated. Second, four performance evaluation indices, which are used to evaluate the stiffness, velocity, motion / force transfer efficiency and gripper attachment efficiency of the robot, are derived from the kinematic model. Non-dimensional design spaces of parameters to be optimized are drawn, and performance atlases are presented in design spaces. Third, the stiffness model of the microspine is derived. In addition, the constraint condition of the restoring spring is established, and the stiffness of restoring springs are optimized using the genetic algorithm. Several experiments are conducted to verify the stiffness model of the microspine. Finally, the prototype is developed and the experimental results validates the kinematic design method.

关键词： kinematic design asteroid exploration multi-legged robot performance atlas microspine

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Motion planning and implementation for the self-recovery of an overturned multi-legged robot

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robotICA 2017年第5期35卷 1107-1120页

作者： Peng, Saijin Ding, Xilun Yang, Fan Xu, Kun Beihang Univ Sch Mech Engn & Automat Beijing Peoples R China

This paper first presents a method of motion planning and implementation for the self-recovery of an overturned six-legged robot. Previous studies aimed at the static and dynamic stabilization of robots for preventing them from overturning. However, no one can guarantee that an overturn accident will not occur during various applications of robots. Therefore, the problems involving overturning should be considered and solved during robot design and control. The design inspirations of multi-legged robots come from nature, especially insects and mammals. In addition, the self-recovery approach of an insect could also be imitated by robots. In this paper, such a self-recovery mechanism is reported. The inertial forces of the dangling legs are used to bias some legs to touch the ground, and the ground reaction forces exerted on the feet of landing legs are achieved to support and push the body to enable recovery without additional help. By employing the mechanism, a self-recovery approach named SSR (Sidewise-Self-Recovery) is presented and applied to multi-legged robots. Experiments of NOROS are performed to validate the effectiveness of the self-recovery motions. The results show that the SSR is a suitable method formulti-legged robots and that the hemisphere shell of robots can help them to perform self-recovery.

关键词： Overturn Self-recovery Motion planning Sidewise-Self-Recovery multi-legged robot

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The soft multi-legged robot inspired by octopus: climbing various columnar objects

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ADVANCED robotICS 2020年第17期34卷 1096-1109页

作者： Ito, Kazuyuki Homma, Yoshihiro Rossiter, Jonathan Hosei Univ Dept Elect & Elect Engn Koganei Tokyo Japan Univ Bristol Dept Fac Engn Bristol Avon England

In this paper, we develop a soft climbing robot made of silicone. Octopus-like behaviour is realized by a simple mechanism utilizing the dynamics of the soft body, and the robot can grasp various objects of unknown shape. In addition, by inching its truck, it can climb various columnar objects. Experiments, using pipes, long balloons, and natural trees, are conducted to evaluate the effectiveness of the proposed robot.

关键词： Soft robot multi-legged robot Bioinspired robot octopus-like robot

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Crab-inspired compliant leg design method for adaptive locomotion of a multi-legged robot

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BIOINSPIRATION & BIOMIMETICS 2022年第2期17卷

作者： Zhang, Jun Liu, Qi Zhou, Jingsong Song, Aiguo Southeast Univ Sch Instrument Sci & Engn State Key Lab Bioelect Nanjing 210096 Peoples R China

Chinese mitten crab has unique limb structures composed of a hard exoskeleton and flexible muscles. They enable the crab to locomote adaptively and safely on various terrains. In this work, we investigated the limb structures, motion principle, and gaits of the crab using a high-speed camera and a press machine. Then, a novel compliant robot leg design method is proposed, inspired by the crab limb. The leg comprises six hard scleromeres and a flexible thin-wall spring steel sheet (FSSS) mimicking the exoskeleton and muscle. The scleromeres connected one by one with rotational joints are designed with slots. The front end of the FSSS is fixed on the scleromere close to the ground. The rear end crosses the slots and is mounted at the shaft of a linear actuator installed at the rear scleromere. The leg bends and stretches when the actuator pushes and pulls the FSSS, respectively. The kinematic modeling, rigid-flexible coupling dynamic simulations, and leg prototype tests are conducted, which verify the leg design approach. Thirdly, we put forward a multi-legged robot with eight compliant legs and design its gait using the gaits of the crab. Finally, the robot's performance is evaluated, including the capabilities of walking on different terrains at adjustable speeds and body heights, traversing low channels, walking on slopes, and carrying loads. The results prove that the single-motor-actuated compliant legs and their dynamic coupling with the rigid robot body frame can enable them to have the ground clearance ability and realize the adaptive walking of the robot. The leg design methodology can be used to design multi-legged robots with the merits of compact, light, low mechanical complexity, high safety, and easy to control, for many applications, such as environmental monitoring, search and rescue.

关键词： biologically inspired robot multi-legged robot rigid-flexible structures compliant leg gait design

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Involute-arc-leg for multi-legged robot: High Stability and Low Energy Consumption

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MECHANISM AND MACHINE THEORY 2022年 170卷

作者： Sun, Yuanxi Dou, Gongzhi Duan, Wenbo Chen, Xiaohong Zheng, Jia Xin, Liming Bai, Long Chongqing Univ State Key Lab Mech Transmiss Chongqing 400044 Peoples R China Chongqing Univ Chongqing Key Lab Met Addit Mfg 3D Printing Chongqing 400044 Peoples R China Xian Inst Appl Optic Xian 710065 Peoples R China Chongqing Univ Posts & Telecommunicat Coll Adv Mfg Engn Chongqing 400065 Peoples R China Shanghai Univ Sch Comp Engn & Sci Shanghai 200444 Peoples R China

A novel involute-arc-leg (IAL) which could be applied to multi-legged robots has been presented in this paper. The IAL is composed of the involute-segment and arc-segment. Compared with the common curved leg, the IAL has two advantages: Firstly, the centroid fluctuation and body capsizing can be reduced to improve motion stability;secondly, the torque can be decreased to reduce the energy consumption. With these characteristics, the robot can achieve more efficient and stable motion. multi-legged robots which are useful for carrying curved legs have been developed, and the stability and energy consumption of the robot with different curved legs have been compared. As verified by experiments, the centroid fluctuation and attitude angle of Quadruped robot can be reduced to zero with IAL, comparing to arc-legs, in which the energy consumption in standing and walking phase is decreased by 14.1% and 28.71%, respectively. The results prove that the motion stability and energy efficiency of robot can be improved with the curved leg design method based on splicing involute and arc, which provides a useful reference for the design of other robots.

关键词： Mobile robot curved leg multi-legged robot kinetic stability energy consumption

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