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Development of a walking algorithm on the uneven terrain for a hexapod robot Little Crabster200

ADVANCES IN MECHANICAL ENGINEERING 2018年第7期10卷

作者： Ji, Won-Suk Cho, Baek-Kyu Kookmin Univ Dept Mech & Design Seoul South Korea Kookmin Univ Dept Mech Engn Seoul 136702 South Korea

In Korea, the underwater robot Crabster200 was developed to perform missions such as accident correspondence, artifact exploration, and resource extraction. To explore the shallow sea successfully, it was designed to walk and swim with six legs. Besides, to develop the walking algorithm efficiently, a small model of Crabster200, Little Crabster200, was developed as well. This article describes the development of a walking algorithm on the uneven terrain for the hexapod robot Little Crabster200. The main purpose of the algorithm is for the robot to maintain a horizontal posture while it walks on uneven terrain. The pattern generator makes a trajectory of normal walking on the flat ground, and the online controller helps Little Crabster200 maintain stable walking on uneven terrain. The proposed algorithm was verified by experiments using the Little Crabster200 on a treadmill equipped with obstacles such as wood boards and bricks. The Little Crabster200 walked stably on the uneven terrain while maintaining a horizontal posture in the experiments.

关键词： Uneven terrain hexapod Little Crabster200 walking algorithm

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Design and walking algorithm of a Foot-Pad Omni-directional Locomotion Interface

Design and Walking Algorithm of a Foot-Pad Omni-directional ...

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2016 4th International Conference on Machinery,Materials and Computing Technology(ICMMCT 2016)

作者： Yuzhe Lu Jianfeng Meng Yunpeng Han Xiaokang Shen Jun Zhang Key Laboratory of High Efficiency and Clean Mechanical Manufacture School of Mechanical Engineering Shandong University

This paper proposes a novel foot-pad omni-directional locomotion interface, establishes planar walking algorithm for it in detail. The proposed locomotion interface allows users walking omni-directionally in a virtual environment, which can improve users' immersion characteristic significantly. The established walking algorithm explains the relation between the motion of foot-pads and the position of ankles, during walking straight or turning. At last, draw a criteria which can be used to decide walking straight or turning.

关键词： Locomotion Interface walking algorithm walking Straight Turning

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Surface point location by walking algorithm for haptic visualization of triangulated 3D models

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ADVANCES IN ENGINEERING SOFTWARE 2014年 75卷 58-67页

作者： Soukal, Roman Purchart, Vaclav Kolingerova, Ivana Univ W Bohemia Fac Sci Appl Dept Comp Sci & Engn Plzen 30614 Czech Republic

Haptic devices are nowadays gaining popularity because of their increasing availability. These special input/output devices provide, unlike mouse or keyboard, a native 3D manipulation, especially a more precise control and a force interaction. With more accurate description of the model, haptics can achieve more realistic force feedback. Therefore, triangulated surface models are often used for an authentic interpretation of 3D models. A common task in haptic visualization using triangulated surface models is to find a triangle which is in the collision trajectory of the haptic probe. Since the render rate of the haptic visualization is relatively high (usually about 1 kHz), the task becomes highly non-trivial for complex mesh models, especially for the meshes which are changing over time. The paper presents a fast and novel location algorithm able to find the triangle which is close to the haptic probe and in the direction of the probe motion vector. The algorithm has negligible additional memory requirements, since it does not need additional searching data structures and uses only the information usually available for triangulated models. Therefore, the algorithm could handle even triangular meshes changing over time. Results show that the proposed algorithm is fast enough to be used in haptic visualization of complex-shaped models with hundreds of thousands of triangles. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Triangle lookup Searching algorithm walking algorithm Triangulated surface model Haptic visualization Collision detection

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An Adaptive Random Walk algorithm for Selecting Tips in the Tangle 5

An Adaptive Random Walk Algorithm for Selecting Tips in the ...

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5th International Conference on Web Research (ICWR)

作者： Chafjiri, Fatemeh Sedighipour Esfahani, Mohamad Mehdi Esnaashari KN Toosi Univ Technol Comp Engn Tehran Iran KN Toosi Univ Technol Fac Comp Engn Tehran Iran

ISBN: (纸本)9781728114316

Number of devices using Internet is increasing every day and this fact makes the need to improve the Internet of things protocol more than ever. Data protection and privacy is one of the key challenges in the Internet of Things technology. Dangers involved in the centralized technology of Blockchain system have led to the idea of using Tangle, which is a decentralized system. The main purpose of this new technology is to improve the problems and limitations of Blockchain such as high cost and time to confirm a transaction. In this new architecture, every node is involved in maintaining network security. This way, if a transaction is created, then it should select and confirm two unconfirmed transactions issued before. A walking algorithm is needed for this selection. walking algorithms presented in literature thus far are either weighted or unweighted. An unweighted random walk algorithm can approve transactions nearly proportional to the time of their arrivals while a weighted algorithm can better defend against lazy and malicious transactions. In this paper, a new random walk algorithm is presented that has the benefits of both algorithms at the same time. The idea is to adapt the weight value to the current situation of transactions. Numerical results have shown the superiority of the proposed algorithm in comparison to the existing algorithms in providing a balance between timeliness of approving transactions and protecting against malicious activities.

关键词： blockchain tangle internet of things walking algorithm

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Identification of Humanoid Biped Robot During walking with Linear Regression Models 22

Identification of Humanoid Biped Robot During Walking with L...

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22nd International Conference on Process Control (PC19)

作者： Sherif, Sherif Kanchev, Veselin Tech Univ Sofia Dept Syst & Control Sofia Bulgaria

ISBN: (纸本)9781728137582

The purpose of the paper is to investigate walking dynamics of a biped humanoid robot with a multivariable linear time invariant structure. The assumption is that during low speed walking the angular velocity in a joint from the construction will vary proportionally to small deviations in the walking parameters. First a basic walking algorithm is implemented on a developed laboratory model of a humanoid robot with 17 degrees of freedom (DOF). Then a set of experimental data is recorded which is used for the identification procedure. After initial identification with a multivariable ARX a final state-space model from 24th order is estimated which is with 10 inputs and 6 outputs. The model is validated with an independent set of data and can be used for the purpose of closed-loop control.

关键词： multivariable identification humanoid robot biped robot walking algorithm

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HEXAPOD - SIX-LEGGED walking ROBOT CONTROLLED WITH TODA-RAYLEIGH LATTICE

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BIO-algorithmS AND MED-SYSTEMS 2012年第1期8卷 111-121页

作者： Piatek, Marcin Turnau, Andrzej AGH Univ Sci & Technol Fac Elect Engn Automat Comp Sci & Elect Dept Automat Mickiewicza 30 Av PL-30059 Krakow Poland

Movement of six-legged robot is considered. The robot is built to conduct research on the control of different modes of walking with a particular focus on switching from one mode to another. The robot parameters are identified from real-time control experiments. A number of identical servo motors are responsible for the mobility of the hexapod. Therefore, in addition to the construction of hexapod and its control system and the ability to generate different gaits, it is important to create a simulation model of the hexapod including servo motors. The full state observer for the servo motor is an integral part of this model. Forward and backward kinematics of the robot legs is implemented. The six node Toda-Rayleigh lattice model is created and numerically simulated. The lattice is applied as the robot controller. Three different modes of robot gait are achieved. The algorithm used for the gait mode change is equipped with parameters that are experimentally chosen.

关键词： walking robot walking algorithm modelling simulation identification

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Work Space Analysis and walking algorithm Development for A Radially Symmetric Hexapod Robot

Work Space Analysis and Walking Algorithm Development for A ...

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作者： Showalter, Mark Henry Virginia Tech | University

The Multi-Appendage Robotic System (MARS) built for this research is a hexapod robotic platform capable of walking and performing manipulation tasks. Each of the six limbs of MARS incorporates a three-degree of freedom (DOF), kinematically spherical proximal joint, similar to a shoulder or hip joint; and a 1-DOF distal joint, similar to an elbow or knee joint. Designing walking gaits for such multi-limb robots requires a thorough understanding of the kinematics of the limbs, including their workspace. The specic abilities of a walking algorithm dictate the usable workspace for the limbs. Generally speaking, the more general the walking algorithm is, the less constricted the workspace becomes. However, the entire limb workspace cannot be used in a continuous, statically stable, alternating tripedal gait for such a robot; therefore a subset of the limb workspace is dened for walking algorithms. This thesis develops MARS limb workspaces in the knee up conguration, and analyzes its limitations for walking on planar surfaces. The workspaces range from simple 2D geometry to complex 3D volumes. While MARS is a hexapedal robot, the tasks of dening the workspace and walking agorthm for all six limbs can be abstracted to a single limb using the constraint of a tripedal, statically stable gait. Based on understanding the behavior of an individual limb, a walking algorithm was developed to allow MARS to walk on level terrain. The algorithm is adaptive in that it continously updates based on control inputs. Open Tech developed a similar algorithm, based on a 2D workspace. This simpler algorithm developed resulted in smooth gait generation, with near-instantaneous response to control input. This accomplishment demonstrated the feasibility of implementing a more sophisticated algorithm, allowing for inputs of all six DOF: x and y velocity, z velocity or walking height, yaw, pitch and roll. This latter algorithm uses a 3D workspace developed to aord near-maximum step length. The w

关键词： walking algorithm Hexapod Gait Planning Robot Locomotion Kinematics Workspace Thesis

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A smooth planar walking algorithm for Virtual walking Machine (K-Walker™)

A smooth planar walking algorithm for Virtual Walking Machin...

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SICE-ICASE International Joint Conference

作者： Park, Jangwoo Yoon, Jungwon Lim, Yo-An Ryu, Jeha Gwangju Inst Sci & Technol Dept Mechatron Kwangju South Korea Gyeongsang Natl Univ Sch Mech & Aerosp Engn Jinju South Korea

ISBN: (纸本)9788995003848

This paper proposes a novel planar walking algorithm for the Virtual walking Machine that is a dual foot platform type locomotion interface. Unlike existing algorithms, the proposed algorithm utilizes a constraint relationship between two platforms as well as position control. Experiments on the VWM show that the proposed planar walking algorithm can generate straight and turning motions which are smoother, collision-free.

关键词： locomotion interface walking algorithm turning navigation

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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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