Adaptive locomotion control of hexapod walking robot for traversing rough terrains with position feedback only
Identifikátory výsledku
Kód výsledku v IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00331074" target="_blank" >RIV/68407700:21230/19:00331074 - isvavai.cz</a>
Výsledek na webu
<a href="https://doi.org/10.1016/j.robot.2019.03.008" target="_blank" >https://doi.org/10.1016/j.robot.2019.03.008</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.robot.2019.03.008" target="_blank" >10.1016/j.robot.2019.03.008</a>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Adaptive locomotion control of hexapod walking robot for traversing rough terrains with position feedback only
Popis výsledku v původním jazyce
Traversing rough terrains is one of the domains where multi-legged walking robots benefit from their relatively more complex kinematics in comparison to wheeled robots. The complexity of walking robots is usually related not only to mechanical parts but also to servomotors and the necessary electronics to efficiently control such a robotic system. Therefore, large, middle, but even small walking robots capable of traversing rough terrains can be very costly because of all the required equipment. On the other hand, using intelligent servomotors with the position control and feedback, affordable hexapod walking robots are becoming increasingly available. However, additional sensors may still be needed to stabilize the robot motion on rough terrains, e.g., inclinometers or inertial measurement units, force or tactile sensors to detect the ground contact point of the leg foot-tip. In this work, we present a minimalistic approach for adaptive locomotion control using only the servomotors position feedback. Adaptive fine-tuning of the proposed controller is supported by a dynamic model of the robot leg accompanied by the model of the internal servomotor controller. The models enable timely detection of the leg contact point with the ground and reduce developed stress and torques applied to the robot construction and servomotors without any additional sensor feedback. The presented results support that the proposed approach reliably detects the ground contact point, and thus enable traversing rough terrains with small, affordable hexapod walking robot.
Název v anglickém jazyce
Adaptive locomotion control of hexapod walking robot for traversing rough terrains with position feedback only
Popis výsledku anglicky
Traversing rough terrains is one of the domains where multi-legged walking robots benefit from their relatively more complex kinematics in comparison to wheeled robots. The complexity of walking robots is usually related not only to mechanical parts but also to servomotors and the necessary electronics to efficiently control such a robotic system. Therefore, large, middle, but even small walking robots capable of traversing rough terrains can be very costly because of all the required equipment. On the other hand, using intelligent servomotors with the position control and feedback, affordable hexapod walking robots are becoming increasingly available. However, additional sensors may still be needed to stabilize the robot motion on rough terrains, e.g., inclinometers or inertial measurement units, force or tactile sensors to detect the ground contact point of the leg foot-tip. In this work, we present a minimalistic approach for adaptive locomotion control using only the servomotors position feedback. Adaptive fine-tuning of the proposed controller is supported by a dynamic model of the robot leg accompanied by the model of the internal servomotor controller. The models enable timely detection of the leg contact point with the ground and reduce developed stress and torques applied to the robot construction and servomotors without any additional sensor feedback. The presented results support that the proposed approach reliably detects the ground contact point, and thus enable traversing rough terrains with small, affordable hexapod walking robot.
Klasifikace
Druh
J<sub>imp</sub> - Článek v periodiku v databázi Web of Science
CEP obor
—
OECD FORD obor
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Návaznosti výsledku
Projekt
Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2019
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název periodika
Robotics and Autonomous Systems
ISSN
0921-8890
e-ISSN
1872-793X
Svazek periodika
116
Číslo periodika v rámci svazku
June
Stát vydavatele periodika
NL - Nizozemsko
Počet stran výsledku
12
Strana od-do
136-147
Kód UT WoS článku
000466820600010
EID výsledku v databázi Scopus
2-s2.0-85063731501