Analysis of typical locomotion of a symmetric hexapod robot

Robotica

Volumn 28, Issue 6, 2010, Pages 893-907

  Wang, Z Y ^a,b   Ding, X L ^a   Rovetta, A ^b  

^a BEIHANG UNIVERSITY   (China)

^b POLITECNICO DI MILANO   (Italy)

Author keywords

Agility; Hexapod robot; Locomotion; Symmetric; Trajectory

Indexed keywords

AGILITY; HEXAPOD ROBOTS; INTERNATIONAL RESEARCHES; LOCOMOTION; NETHERLANDS; NORMAL CONDITION; PLANETARY EXPLORATION; ROBOT KINEMATICS; ROBOTICS SYSTEMS; SOIL EXPLORATIONS; SPACE TECHNOLOGIES; SYMMETRIC; THEORETICAL RESULT; WALKING ABILITY;

ENERGY MANAGEMENT; FAULT TOLERANCE; INTERPLANETARY SPACECRAFT; QUALITY ASSURANCE; ROBOTICS; SPACE FLIGHT; TRAJECTORIES;

ROBOTS;

EID: 77958485203     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574709990725     Document Type: Article

References (52)

1. A. Rovetta and E. C. Paul, "New Robot Concept for Mars Soil Exploration: Mechanics and Functionality," ASTRA 2004, Eighth ESA Workshop on Advanced Space Technologies for Robotics and Automatian, Nordwijk, The Netherlands (Nov. 2-4 , 2004) pp. 1-8.
2. A. Preumont, P. Alexadre and D. Ghuys, "Gait Analysis and Implementation of a Six LegWalking Machine," 91ICAR, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments,' Pisa, Italy, Vol.2 (Jun. 19-22, 1991) pp. 941-945.
3. J.-M. Yang and J.-H. Kim, "A Strategy of Optimal Fault Tolerant Gait for the Hexapod Robot in Crab Walking," IEEE International Conference on Robotics and Automation, Leuven, Belgium, Vol.2 (May 16-20, 1998) pp. 1695-1700.
4. J.-M. Yang and J.-H. Kim, "Fault Tolerant Locomotion of the Hexapod Robot," IEEE Transactions on System, Man and Cybernetics, Vol.28(1) (Feb. 1998) pp. 109-116.
5. J.-M. Yang, "Fault-Tolerant Gait Generation for Locked Joint Failures," IEEE International Conference on Systems, Man and Cybernetics, Washington D.C., USA, Vol.3 (Oct. 5-8, 2003) pp. 2237-2242.
6. J.-M. Yang and J.-H. Kim, "Optimal Fault Tolerant Gait Sequence of the Hexapod Robot with Overlapping Reachable Areas and CrabWalking," IEEE Transactions on System, Man and Cybernetics, Part A, Vol.29(2) (Mar. 1999) pp. 224-235.
7. J.-M.Yang and J.-H. Kim, "AFault TolerantGait for aHexapod Robot over Uneven Terrain," IEEE Transactions on Systems, Man, and Cybernetics-part b: Cybernetics, Vol.30 (1) (Feb. 2000) pp. 172-180.
8. N. Koyachi, T. Arai, H. Adachi, K. Asami and Y. Itoh, "Hexapod with Integrated Limb Mechanism of Leg and Arm," IEEE International Conference on Robotics and Automation, Nagova, Japan, Vol.2 (May 21-27, 1995) pp. 1952-1957.
9. Y. Takahashi, T. Arai, Y. Mae, K. Inoue and N. Koyachi, "Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility," Proceedings of the 2000 IEEERSJ International Conference on intelligent Robots and Systems, Takamatsu, Japan, Vol.3 (31 Oct.-5 Nov., 2000) pp. 2012-2017.
10. J. Bares and M. Hebert, T. Kanade, E. Krotkov, T. Mitchell, R. Simmons andW.Whittaker, "Ambler-An Autonomous Rover for Planetary Exploration," IEEE Computer (1989) pp. 18-26.
11. M. Kaneko,M.Abe andK. Tanie, "Ahexapodwalkingmachine with decoupled freedoms," IEEE J. Robot. Autom. RA-1(4), 183-190 (Dec. 1985).
12. W.-J Lee and D. E. Orin, "Omni-directional supervisory control of a multi-legged vehicle using periodic gait," IEEE J. Robot. Autom. 4(6), 635-642 (Dec. 1988).
13. E. Krotkov and J.Bares et al.,"Ambler:ASix-Legged Planetary Rover," Fifth international conference on advanced robotics-91 ICAR, Pisa, Italy (1991) pp. 717-722.
14. D. Wettergreen, H. Thomas and C. Thorpe, "Planning Strategies for the AmblerWalking Robot," IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA (Aug. 9-11, 1990) pp. 198-203.
15. S. Hirose, K. Homma, S. Matsuzawa and S. Hayakawa, "Parallel Link Walking Vehicle and Its Basic Experiments (in Japanese)," Sixth Symposium on Intelligent Mobile Robots, (1992) pp. 7-8.
16. Y. Ota, Y. Inagaki, K. Yoneda and S. Hiros, "Research on a Six-Legged Walking Robot with Parallel Mechanism," Proceedings of the 1998 IEE WRSJ Intl. Conference on Intelligent Robots and Systems,Victoria, BC, Canada (Oct. 1998) pp. 241-248.
17. H. B. Gurocak and J. Peabody, "Design of a robot that walks in any direction," J. Robot. Syst. 15(2), 75-83 (1998).
18. B.-H. Lee and I.-K. Lee, "The Implementation of the Gaits and Body Structure for Hexapod Robot," ISIE 2001. IEEE International Symposium on Industrial Electronics, Pusan, South Korea, Vol.3 (Jun. 12-16, 2001) pp. 1959-1964.
19. U. Saranli, M. Buehler and D. E. Koditschek, "RHex: A simple and highly mobile hexapod robot," Int. J. Robot. Res. 20(7), 616-631 (Jul. 2001).
20. T. T. Lee, C. M. Liao and T. K. Chen, "On the stability properties of hexapod tripod gait," IEEE J. Robot. Autom. 4(4),427-434 (Aug. 1988).
21. S. M. Song and B. S. Choi, "The optimally stable ranges of 2n-legged wave gaits," IEEE Trans. Syst. Man Cybern.-part b: Cybern. 20(4), 888-902 (Jul.-Aug. 1990).
22. X.-J.Wang, "A Study of Locomotion and Force Planning for Multilegged Walking Robots," Ph.D. Thesis (in Chinese), (Wuhan, P.R. China: Huazhong University of Science & Technology, Oct. 2005) pp. 95-100.
23. J. Su, "The Research of the Gait Planning and Control of the Multilegged Walking Robot," Master Thesis (in Chinese) (Wuhan, P.R.China: Huazhong University of Science & Technology, Apr. 2004).
24. Q.-J. Huang and K. Nonami, "Humanitarian mine detecting six-legged walking robot and hybrid neuro walking control with position/force control," Mechatronics 13, 773-790 (2003).
25. E. I. Kugushev and V. S. Jaroshevskij, "Problem of Selecting a Gait for an Integrated Locomotion Robot," Process Fourth International conference. Artificial Intelligence, Tbilisi, Georgian SSR, USSR (Sep. 1975) pp. 789-793.
26. R. B. McGhee and G. I. Iswandhi, "Adaptive locomotion of a multilegged robot over rough terrain," IEEE Trans. Syst. Man Cybern. SMC-9(4), 176-182 (Apr. 1979).
27. J. M. Porta and E. Celaya, "Reactive free gait generation to follow arbitrary trajectories with a hexapod robot," Robot. Auton. Syst. 47, 187-201 (2004).
28. M. S. Erden and K. Leblebicioǧu, "Free gait generation with reinforcement learning for a six-legged robot," Robot. Auton. Syst. 56, 199-212 (2008).
29. K. Kamikawa, T. Arai, K. Inoue and Y. Mae, "Omni-Directional Gait ofMulti-Legged Rescue Robot," Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA -4111 (2004) pp. 2171-2176.
30. K.Yoneda andK. Suzuki, "Gait and foot trajectory planning for versatile motions of a six-legged robot,"J. Robot. Syst. 14(2), 121-133 (1997).
31. S. K.-K. Chu and G. K.-H. Pang, "Comparison between different model of hexapod robot in fault-tolerant gait,"IEEE Trans. Syst. Man. Cybern. Part A 32(6), 752-756 (Nov. 2002).
32. P. Gonzalez de Santos, J. A. Cobano, E. Garcia, J. Estremera and M. A. Armada, "A six-legged robot-based system for humanitarian demining missions," Mechatronics 17, 417-430 (2007).
33. P. Gonzalez de Santos, E. Garcia and J. Estremera, "Improving walking-robot performances by optimizing leg distribution," Auton. Robots 23(4), 247-258 (2007).
34. A. Rovetta and X. Ding, "Next Steps for Robotic Landers Rovers andOutposts," ILEWG 2006, Beijing, China (Jul. 2006) pp. 23-27.
35. A. Rovetta, "New Progress on the Novel Robotics Systems for Moon Exploration," Ilewg 2007, Sorrento, Italy (24-26 Oct. 2006).
36. Z.-Y.Wang, X.-L. Ding and A. Rovetta, "Structure Design and LocomotionAnalysis of a NovelRobot for Lunar Exploration," Twelfth IFToMM World Congress, Besançon, France (Jun. 2007) pp. 18-21.
37. A. Rovetta and E.C. Paul, "Design Methodologies for a Colony of Autonomous Space Robot Explorers," Intelligence for Space Robotics(A. Howard and E. d. Tunstel, eds.), (TSI Press Series, 2006) pp. 93-112.
38. J. J. Chen,A.M. Peattie,K.Autumn and R. J. Full, "Differential leg function in a sprawled-posture quadrupedal trotter," J. Exp. Biol. 209, 249-259 (2006).
39. S. Hirose and F. Martins, "Generalized standard leg trajectory for quadruped waking vehiche," Trans. Soc. Instrum. Control Eng. 25(4),455-546 (1989).
40. K. Tsujita, K. Tsuchiya and A. Onat, "Adaptive gait pattern control of a quadruped locomotion robot," 2001 IEEE / RSJ International Conference on Intelligent Robots and Systems, Hawaii, USA, Vol.4 (29 Oct.-3 Nov. 2001) pp. 2318-2325.
41. X.-D. Chen, Y. Su and W.-C. Jian, "Motion Planning and Control of Multilegged Walking Robots," Huazhong University of Science and Technology Press (in Chinese), Wuhan, China (Jun. 2006).
42. J. Estremera and P. Gonzalez de Santos, "Free gaits for quadruped robots over irregular terrain," Int J Robot. Res. 21(2), 115-130 (Feb. 2002).
43. J. Estremera and P. Gonzalez de Santos, "Generating continuous free crab gaits for quadruped robots on irregular terrain," IEEE Trans. Robot. 21(6), 1067-1076 (Dec. 2005).
44. Y.-J. Lee and S. Hirose, "Three-Legged Walking for Fault Tolerant Locomotion of a Quadruped Robot with Demining Mission," 2000 IEEE / RSJ International Conference on Intelligent Robots and Systems(IROS 2000), Takamatsu, Japan, Vol.2 (31 Oct.-5 Nov. 2000) pp. 973-978.
45. C. A. Berardi-Gonziilez and H. Martinez-Alfaro, "Kinematic Simulator for an Insect-Like Robot," IEEE International Conference on Systems, Man and Cybernetics, Washington DC, USA, Vol.2 (2003) pp. 1846-1851.
46. W.-J. Lee and D. E. Orin, "The kinematics of motion planning for multilegged vehicles over uneven terrain Lee," Robot. Autom. (see also IEEE Trans. Robot. Autom.) 4(2), 204-212 (1988).
47. J. P. Barreto, A. Trigo, P. Menezes, J. Dias and A. T. De Almeida , "FED-the Free Body Diagram Method. Kinematic andDynamicModeling of a Six Leg Robot, "Advanced Motion Control (AMC'98), Coimbra, Portugal (29 Jun.-1 Jul. 1998) pp. 423-428.
48. A. Shkolnik and R. Tedrake, "Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution," 2007 IEEE International Conference on Robotics and Automation, Roma, Italy (10-14 Apr. 2007) pp. 4331-4336.
49. W.-J. Chen, S. H. Yao and K. H. Low, "Modular Formulation for Dynamics of Multi-Legged Robots," Eighth International Conference on Advanced Robotics (ICAR'97), Monterey, CA, USA (7-9 Jul. 1997) pp. 279-284.
50. M. S. Erden and K. Leblebicioǧu, "Torque Distribution in a Six-Legged Robot," IEEE Trans. Robot. 23(1), 179-186 (2007).
51. D. W. Marhefka and D. E. Orin, "Quadratic Optimization of Force Distribution in Walking Machines," Proceedings of the 1998 IEEE International Conference on Robotics & Automation, Leuven, Belgium (May 1998) pp. 477-483.
52. M. F. Silva, J. A. Tenreiro Machado and A. M. Lopes, "Performance Analysis of Multi-Legged Systems," International Conference on Robotics 8 Automation, Washington, DC (May 2002) pp. 2234-2239.