On Locomotion Control Using Position Feedback Only in Traversing Rough Terrains with Hexapod Crawling Robot

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00323910" target="_blank" >RIV/68407700:21230/18:00323910 - isvavai.cz</a>

Výsledek na webu

<a href="http://iopscience.iop.org/article/10.1088/1757-899X/428/1/012065/meta" target="_blank" >http://iopscience.iop.org/article/10.1088/1757-899X/428/1/012065/meta</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1088/1757-899X/428/1/012065" target="_blank" >10.1088/1757-899X/428/1/012065</a>

Jazyk výsledku

angličtina

Název v původním jazyce

On Locomotion Control Using Position Feedback Only in Traversing Rough Terrains with Hexapod Crawling Robot

Popis výsledku v původním jazyce

In this paper, we report on our results on improved locomotion control of small and affordable hexapod crawling robot using only position feedback from the utilized servo motors. Multi-legged robots represent complex mechanical systems with many degrees of freedom from which they can benefit in traversing rough terrains. However, the crucial ability of multi-legged robots is maintaining stable locomotion over irregularities of the terrain which makes the locomotion control complex and requires reliable and timely detection of the leg contact point with the ground. Such detection may require additional sensory equipment which can increase the cost of the multi-legged platform. Therefore, we focus on exploiting capabilities of nowadays intelligent servo motors with position feedback to develop a minimalistic set up in which the robot uses solely the position feedback of the servo motors to sense the ground reaction force. The first achievements enable a small hexapod crawling robot to navigate rough terrains using stable pentapod gait, where only one leg moves at a time, and five legs support the robot. Later on, we improved the locomotion control to enable faster locomotion using three simultaneously moved legs in the so-called tripod motion gait. This paper reports on further advancements with a faster control loop enabled by hardware based acceleration of the communication latency with the utilized Dynamixel AX12 servo motors that improve the locomotion capabilities of the robot. The reported results indicate the robot locomotion with the used adaptive motion gait is speeded up by a factor of 1.4 with the same stability in traversing the rough terrain of the experimental laboratory mock-up.

Název v anglickém jazyce

On Locomotion Control Using Position Feedback Only in Traversing Rough Terrains with Hexapod Crawling Robot

Popis výsledku anglicky

In this paper, we report on our results on improved locomotion control of small and affordable hexapod crawling robot using only position feedback from the utilized servo motors. Multi-legged robots represent complex mechanical systems with many degrees of freedom from which they can benefit in traversing rough terrains. However, the crucial ability of multi-legged robots is maintaining stable locomotion over irregularities of the terrain which makes the locomotion control complex and requires reliable and timely detection of the leg contact point with the ground. Such detection may require additional sensory equipment which can increase the cost of the multi-legged platform. Therefore, we focus on exploiting capabilities of nowadays intelligent servo motors with position feedback to develop a minimalistic set up in which the robot uses solely the position feedback of the servo motors to sense the ground reaction force. The first achievements enable a small hexapod crawling robot to navigate rough terrains using stable pentapod gait, where only one leg moves at a time, and five legs support the robot. Later on, we improved the locomotion control to enable faster locomotion using three simultaneously moved legs in the so-called tripod motion gait. This paper reports on further advancements with a faster control loop enabled by hardware based acceleration of the communication latency with the utilized Dynamixel AX12 servo motors that improve the locomotion capabilities of the robot. The reported results indicate the robot locomotion with the used adaptive motion gait is speeded up by a factor of 1.4 with the same stability in traversing the rough terrain of the experimental laboratory mock-up.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GA18-18858S" target="_blank" >GA18-18858S: Metody kontinuálního učení řízení pohybu vícenohých kráčejích robotů v úlohách autonomního sběru dat</a><br>

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IOP Conference Series: Materials Science and Engineering

ISBN

—

ISSN

1757-899X

e-ISSN

1757-899X

Počet stran výsledku

10

Strana od-do

1-10

Název nakladatele

Institute of Physics Publishing

Místo vydání

Bristol

Místo konání akce

Chengdu

Datum konání akce

19. 7. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—