Papers by Keyword: Multi-Legged Walking Robot

Abstract: In order to obtain an optimal transmission scheme for the joints of supported leg of a multi-legged walking robot, the experience, which comes from the research of a large-scale six-legged heavy-duty walking robot, is used for reference. Five kinds of transmission schemes are respectively listed, and they are respectively analyzed in detail. Based on the comprehensive performance comparison, the listing approach is employed to synthetically compare on excellences and shortcomings among transmission schemes. The best transmission scheme is obtained through the comparative analysis, which provides technique support for the design and analysis on the multi-legged walking robot.

Abstract: In the paper an approach to design and control of reconfigurable walking robots is presented. Based on the biological inspiration the conception of the six-legged robot is proposed. In the first part a mechanical structure, basic kinematical and dynamical dependences in the robot legs are described. The structure, kinetics rules, gait patterns etc. are derived from typical stick insects. According to the above assumptions the body and the legs of the robot are designed and made. At all legs eighteen DC servomotors with resistant encoders are used. In addition at the robot head one DC servomotor for sensors or a vision system is introduced. In the second part a control system is discussed. The multi-level control unit is based on the AVR Atmega8/16 microcontrollers which are responsible for generating of a movement trajectory and at the same time for controlling of the all servomotors. For the proposed control system different gait algorithms and behaviour rules including a forward/back movement, avoiding of obstacles are worked out. They allow an autonomous work of the robot or remote control by an operator. In addition, during the walk the algorithms can match the type of attitudes and gaits to an environment. Next, some experiments of walking for different control algorithms are carried out and described. At the end some conclusions and directions of the further research are given.

Abstract: The high order equation causing by analytic method in multi-legged robot forward kinematics analysis may have imaginary root, repeated root, extraneous root or even lost solution. A system based on the theory of computer aided geometric method is proposed. Consideration with the internal structural constraint relations of multi-legged walking robots, the solidworks model was constructed and Visual Basic develop platform was adopted to fulfill the secondary development of solidworks. A system of forward kinematics analysis of multi-legged walking robots is established. The example validates that the system is simple and effective for all reptiles-like quadruped walking robot.

Abstract: Because the structural and motion parameters errors, when the robot move in the ideal situation, actual posture of the robot is likely to deviate from its required position. Based on the discussion of forward kinematics, which is calculating the influence of error sources on the posture error of robot, is researched in this paper, and an example is used to explain. The effect of each parameter on posture error can be evaluated by analyzing the results of example. The designer can make different error control method for each parameter according to the influence of them.

Abstract: In this paper, the structure and the motion state of a new type multi-legged walking robot with hand-foot-integration function is introduced, and its swing leg which has hand-foot-integration function is analyzed in detail. Firstly, the kinematics relation of the swing leg is researched, then the velocity and accelerated velocity expression of the swing leg is derived. And then, the dynamics of the swing leg in the state of grasping objects with considering the gravity effect is researched by using Newton-Euler method. The relevant formula is deduced in this paper. Finally, the analysis process is verified through a numerical example.

Abstract: The paper introduces the configuration of a multi-legged walking robot with hand-food-integrated mechanism arm. In order to study the kinematics and the dynamics of the robot, three-dimensional entity model of the multi-legged walking robot is built up in solid-works based on inner relation of different simulation softwares. And then the model is leaded in ADAMS to simulate the dynamics and the kinematics of the robot. The paper describes the corresponding process. As an example, the robot ZQROT-1 walking along straight line is investigated. Dynamic parameters of the robot are obtained and analyzed by using ADAMS. The results can be used to optimize the robot structure and to determine its characteristic parameter. The methods and the thoughts of the paper can be referenced to solve similar problem in some aspects.