Analytically founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot

Author:

Fućek Luka1,Kovačić Zdenko2ORCID,Bogdan Stjepan2

Affiliation:

1. STEMI Learning by Creation d.o.o., Zagreb, Croatia

2. Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia

Abstract

This article presents a new control algorithm for the omnidirectional motion of a legged robot on uneven terrain based on an analytical kinematic solution without the use of Jacobians. In order to control the robot easily and efficiently in all situations, a simplified circle-based workspace approximation has been introduced. Foot trajectories for legged robot movement were generated on concentric circular paths around an analytically computed common centre of motion. This systematic motion model, together with new gait control variables that can be changed during legged robot motion, enabled the implementation of a new adaptive gait phase control algorithm, as well as the addition of algorithms for ground-level adaptation, 3-dimensional map-based step adjustment and fusion of all corrections to establish and/or maintain foot contact with the ground. The method being applicable to different legged robot designs was performed and tested on the laboratory prototype of a hexagonal hexapod robot, and the results of the experiments showed the practical value of the proposed adaptive yaw control method (available also as a video supplement).

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Cited by 7 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Kinematic Modeling and Simulation of Multi-Turning Gaits of Hexapod Walking Robot;2024 Intelligent Methods, Systems, and Applications (IMSA);2024-07-13

2. Design and modeling of hexapod robot using telescopic legs connected to pivot joints at the hips;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2023-10-21

3. Combined Reinforcement Learning and CPG Algorithm to Generate Terrain-Adaptive Gait of Hexapod Robots;Actuators;2023-04-03

4. Design conceptualization and kinematic analysis of locomotion gait for a caterpillar-inspired robot;IV INTERNATIONAL SCIENTIFIC FORUM ON COMPUTER AND ENERGY SCIENCES (WFCES II 2022);2023

5. Accurate perception and representation of rough terrain for a hexapod robot by analysing foot locomotion;Measurement;2022-04

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