›› 2012, Vol. 42 ›› Issue (04): 1008-1014.

Previous Articles     Next Articles

Kinematic analysis and control of omnidirectional hexapod robot with a steering-wheel

WANG Guo-fu, GAO Feng, XU Guo-yan   

  1. Transportation Science and Technology School, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2011-06-28 Online:2012-07-01 Published:2012-07-01

Abstract: An omnidirectional walking mechanism which synthesizes legged robot and steering-wheel was proposed, the specific motion features and steering performance were introduced. To achieve a good result of motion control, equivalent manipulator model of the steering mechanism was built, and the dynamics were developed by means of Lagrangian dynamic approach. The motion planning and experiments on the prototype validate that the omnidirectional robot with a steering wheel can be manipulated simply, flexibly and accurately.

Key words: automatic control technology, hexapod robot, omnidirectional motion, steering wheel, walking vehicle, lunar rover

CLC Number: 

  • TP24
[1] Brooks R A. A robot that walks:emergent behaviors from a carefully evolved network[J]. Neural Computation,1989:253-262.
[2] Espenschied S, Quinn R D, Chiel H J.Biologically-based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot[J]. Robotics and Autonomous Systems,1996,18:59-64.
[3] Quinn R D, Nelson G M, Bachmann R J. Parallel complementary strategies for implementing biological principles into mobile robots[J]. The International Journal of Robotics Research,2003,22(3):169-186.
[4] Klaassen R, Spenneberg Linnemann D. Biomimetic walking robot scorpion:control and modeling[J]. Robotics and Autonomous Systems,2002,41:69-76.
[5] Frik M, Guddat M, Losch D C. Terrain adaptive control of the walking machine TARRY II//The European Mechanics Colloquium, Euromech, Munich, 1998:108-115.
[6] Tomohito Takubo, Arai Tatsuo, Inoue Kenji, et al. Development of limb mechanism robot-ASTERISK[J]. Journal of Robotics and Mechatronics, 2006, 18(2):203-214.
[7] Wilcox B, Litwin T, Biesiadecki J. ATHLETE:a cargo handling and manipulation robot for the moon[J]. Journal of Field Robotics,2007,24(5):421 -434.
[8] Wilcox Brain H. ATHLETE:an option for mobile lunar landers//IEEE Aerospace Conference, Big Sky, Montana, USA, 2008:1-8.
[9] 陈学东,孙翊,贾文川. 多足步行机器人运动规划与控制[M]. 武汉:华中科技大学出版社,2006.
[10] Lee B H, Lee I K. The implementation of the gaits and body structure for hexapod robot//IEEE International Symposium on Industrial Electronics, Piscataway, NJ, USA:IEEE, 2001:1959-1964.
[11] Kamikawa K, Arai T,Inoue K, et al. Omni-directional gait of multi-legged rescue robot//IEEE International Conference on Robotics and Automation, Piscataway, NJ, USA:IEEE, 2004:2171-2176.
[12] Yang J M, Kim J H. Fault-tolerant locomotion of the hexapod robot[J]. IEEE Transactions on Systems, Man and Cybernetics, Part B, 1998, 28(1):109-116.
[13] Erden M S, Leblebicioglu K. Free gait generation with reinforcement learning for a six-legged robot[J]. Robotics and Autonomous Systems, 2008,56(3):199-212.
[14] Preumont A, Alexander P, Ghuys D. Gait analysis and implementation of a six leg walking machine//Fifth International Conference on Advanced Robotics, Piscataway, NJ, USA:IEEE, 1991:941-945.
[15] Fukuda T, Adachi Y, Hoshino H, et al. Posture control of 6-leg walking robot//Proceedings of the International Conference on Robotics and Automation, 1995, Nagoya, Aichi, Japan, 1995:21-27.
[16] Wang Guo-fu, Gao Feng, Cui Ying, et al. Kinematic control of dual-tripod walking robot with a steering-wheel//IEEE International Conference on Robotics and Biomimetics, Guilin, China, 2009:2415-2420.
[17] Khatib O. Dynamic control of manipulators in operational space//Sixth IFTOMM Congress on Theory of Machines and Mechanisms, New Delhi, 1983:1123-1131.
[18] 王国富,高峰,杨新红,等.基于超声波的移动机器人多目标探测定位方法[J].北京航空航天大学学报,2011,37(12):1519-1523. Wang Guo-fu, Gao Feng, Yang Xin-hong, et al. Multi-target detecting and positioning approach of mobile robot based on ultrasonic sensors[J]. Journal of Beijing University of Aeronautics and Astronautics,2011,37(12):1519-1523.
[1] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[2] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[3] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[4] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[5] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[6] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[7] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[8] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[9] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[10] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[11] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[12] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
[13] HU Yun-feng, GU Wan-li, LIANG Yu, DU Le, YU Shu-you, CHEN Hong. Start-stop control of hybrid vehicle based on nonlinear method [J]. 吉林大学学报(工学版), 2017, 47(4): 1207-1216.
[14] SHEN Shuai, ZHANG Bao, LI Xian-tao, ZHU Feng, JIN Chao-qiong. Acceleration feedback control based on tracking differentiator [J]. 吉林大学学报(工学版), 2017, 47(4): 1217-1224.
[15] SHAO Ke-yong, CHEN Feng, WANG Ting-ting, WANG Ji-chi, ZHOU Li-peng. Full state based adaptive control of fractional order chaotic system without equilibrium point [J]. 吉林大学学报(工学版), 2017, 47(4): 1225-1230.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!