Small inspection robots allow for the optimal exploration of environments and the collection of data from challenging areas,particularly where there may be small access points or tight and fragile surroundings.These r...Small inspection robots allow for the optimal exploration of environments and the collection of data from challenging areas,particularly where there may be small access points or tight and fragile surroundings.These robots can be custom-built for specific tasks,but the design and assembly process for this can be costly,both in resources and assembly time.The use of 3D printing to create Non-Assembly mechanisms can assist in saving time and resources by reducing the number of different components required and removing the necessity for complex assembly tasks.By iterating on previous work performed in the institute,this paper introduces a novel robot design to push the capabilities of Non-Assembly systems.By building on previous knowledge,this new walking robot improves on the previous iteration by creating a more robust and reliable system,more capable of effectively exploring challenging environments accurately,while still using practices designed to save on cost and production time.Benchmark tests were performed to provide an accurate comparison against the previous design and highlight the robots marked improvements in positional accuracy over its predecessor.展开更多
The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage...The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control system.Based on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of legs.An automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion parameters.The disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular terrain.The experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper.展开更多
A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating b...A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously.展开更多
文摘Small inspection robots allow for the optimal exploration of environments and the collection of data from challenging areas,particularly where there may be small access points or tight and fragile surroundings.These robots can be custom-built for specific tasks,but the design and assembly process for this can be costly,both in resources and assembly time.The use of 3D printing to create Non-Assembly mechanisms can assist in saving time and resources by reducing the number of different components required and removing the necessity for complex assembly tasks.By iterating on previous work performed in the institute,this paper introduces a novel robot design to push the capabilities of Non-Assembly systems.By building on previous knowledge,this new walking robot improves on the previous iteration by creating a more robust and reliable system,more capable of effectively exploring challenging environments accurately,while still using practices designed to save on cost and production time.Benchmark tests were performed to provide an accurate comparison against the previous design and highlight the robots marked improvements in positional accuracy over its predecessor.
基金Supported by the National High Technology Research and Development Programme of China(No.2007AA041550)the National NaturalScience Foundation of China(No.51105101)
文摘The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control system.Based on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of legs.An automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion parameters.The disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular terrain.The experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper.
文摘A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously.
