Inverted Modelling: An Effective Way to Support Motion Planning of Legged Mobile Robots

Springer Science and Business Media LLC - Tập 36 Số 1
Chenyao Zhao1, Weizhong Guo1
1State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Tóm tắt

AbstractThis paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling, based on the equivalent metamorphic mechanism concept. The difference from the previous research is that we herein invert the equivalent parallel mechanism. Assuming the leg mechanisms are hybrid links, the body of robot being considered as fixed platform, and ground as moving platform. The motion performance is transformed and measured in the body frame. Terrain and joint limits are used as input parameters to the model, resulting in the representation which is independent of terrains and particular poses in Inverted Modelling. Hence, it can universally be applied to any kind of legged robots as global motion performance framework. Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation. According to the requirements of actual work like motion continuity and stability, motion planning of legged robot can be achieved using different measurements on different terrains. Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads. The results verify the correctness and effectiveness of the proposed method.

Từ khóa


Tài liệu tham khảo

P Fankhauser, M Hutter. Anymal: A unique quadruped robot conquering harsh environments. Research Features, 2018, 126: 54-57.

J Hooks, M S Ahn, J Yu, et al. ALPHRED: A multi-modal operations quadruped robot for package delivery applications. IEEE Robotics and Automation Letters, 2020, 5(4): 5409-5416.

D Kim, D Carballo, J D Carlo, et al. Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot. 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, September 15, 2020: 2464-2470.

R B McGhee, A A Frank. On the stability properties of quadruped creeping gaits. Mathematical Biosciences, 1968, 3: 331-351.

H Park, B Kwak, J Bae. Inverse kinematics analysis and COG trajectory planning algorithms for stable walking of a quadruped robot with redundant DOFs. Journal of Bionic Engineering, 2018, 15(4): 610-622.

G Bledt, M J Powell, B Katz, et al. MIT Cheetah 3: Design and control of a robust, dynamic quadruped robot. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018: 2245-2252.

Y Zhao, X Chai, F Gao, et al. Obstacle avoidance and motion planning scheme for a hexapod robot Octopus-III. Robotics and Autonomous Systems, 2018, 103: 199-212.

L H Mao, Y Tian, F Gao, et al. Novel method of gait switching in six-legged robot walking on continuous-nondifferentiable terrain by utilizing stability and interference criteria. Science China Technological Sciences, 2020, 63(12): 2527-2540.

G Figliolini, M Ceccarelli. Easy programming of an electropneumatic walking robot. IFAC Proceedings Volumes, 1997, 30(20): 747-754.

G Figliolini, M Ceccarelli. Walking programming for an electropneumatic biped robot. Mechatronics, 1999, 9(8): 941-964.

M Wang, M Wonsick, X Long, et al. In-situ terrain classification and estimation for NASA’s humanoid robot valkyrie. 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, July 6-9, 2020: 765-770.

Y de Viragh, M Bjelonic, C D Bellicoso, et al. Trajectory optimization for wheeled-legged quadrupedal robots using linearized zmp constraints. IEEE Robotics and Automation Letters, 2019, 4(2): 1633-1640.

T Yamamoto, T Sugihara. Foot-guided control of a biped robot through ZMP manipulation. Advanced Robotics, 2020, 34(21-22): 1472-1489.

T Ando, T Watari, R Kikuuwe. Reference ZMP generation for teleoperated bipedal robots walking on non-flat terrains. 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, January 11-14, 2021: 794-800.

P Biswal, P K Mohanty. Development of quadruped walking robots: A review. Ain Shams Engineering Journal, 2021, 12(2): 2017-2031.

J Dai, J J Rees. Mobility in metamorphic mechanisms of foldable/erectable kinds. Proceedings of 25th ASME Biennial Mechanisms and Robotics Conference, 1998: 375-382.

K Xu, X Ding. Gait analysis of a radial symmetrical hexapod robot based on parallel mechanisms. Chinese Journal of Mechanical Engineering, 2014, 27(5): 867-879.

K Xu, P J Zi, X L Ding, Gait analysis of quadruped robot using the equivalent mechanism concept based on metamorphosis. Chinese Journal of Mechanical Engineering, 2019, 32: 8.

C Liang, M Ceccarelli. Design and simulation of a waist–trunk system for a humanoid robot. Mechanism and Machine Theory, 2012, 53: 50-65.

G Zeglin. Uniroo--a one legged dynamic hopping robot. Department of Mechanical Engineering, Massachusetts Institute of Technology, 1991.

P Supinee. Atlas robot improvement. Symposium of University Research and Creative Expression, 2021.

S Dafarra, S Bertrand, R J Griffin, et al. Non-linear trajectory optimization for large step-ups: Application to the humanoid robot atlas. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, February 10, 2021: 3884-3891.

H Chen, P M Wensing, W Zhang. Optimal control of a differentially flat two-dimensional spring-loaded inverted pendulum model. IEEE Robotics and Automation Letters, 2019, 5(2): 307-314.

K Yuan, Z Li. An improved formulation for model predictive control of legged robots for gait planning and feedback control. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018: 1-9.

M H Raibert. Legged robots that balance. The MIT Press, Cambridge, MA, 1985, 250.

M H Raibert. Trotting, pacing and bounding by a quadruped robot. Journal of Biomechanics, 1990, 23: 79-98.

H W Park, P M Wensing, S Kim. Jumping over obstacles with MIT Cheetah 2. Robotics and Autonomous Systems, 2021, 136: 103703.

D Wooden, M Malchano, K Blankespoor, et al. Autonomous navigation for BigDog. 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, May 3-7, 2010: 4736-4741.

S Ching-Long, C A Klein. An adaptive gait for legged walking machines over rough terrain. IEEE Transactions on Systems, Man, and Cybernetics, 1993, 23(4): 1150-1155.

T Kamioka, H Kaneko, T Takenaka, et al. Simultaneous optimization of ZMP and footsteps based on the analytical solution of divergent component of motion. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, Australia, May 21-25, 2018: 1763-1770.

R B McGhee, G I Iswandhi. Adaptive locomotion of a multilegged robot over rough terrain. IEEE Transactions on Systems, Man, and Cybernetics, 1979, 9(4): 176-182.

P Fankhauser, M Bjelonic, C D Bellicoso, et al. Robust rough-terrain locomotion with a quadrupedal robot. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, Australia, May 21-25, 2018: 1-8.

J F Gardner. Efficient computation of force distributions for walking machines on rough terrain. Robotica, 1992, 10(5): 427-433.

W Guo, Z Tong, F Gao. A NURBS oriented model for motion design of robot motion planning. Proceedings of 14th IFToMM World Congress (IFToMM World Congress 2015), Taipei, Taiwan, China, 2015.

J Huang, W Z Guo, F Gao. Time-variant NURBS oriented motion design for robot path planning. IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.

R F Lin, W Z Guo, M Li, et al. Novel design of a legged mobile lander for extraterrestrial planet exploration. International Journal of Advanced Robotic Systems, 2017, 14(6): 17298814-17746120.

P Yang, F Gao. Leg kinematic analysis and prototype experiments of walking-operating multifunctional hexapod robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013, 228(12): 2217-2232.

Thông tin
Thông tin xuất bản

Springer Science and Business Media LLC

Tập 36 Số 1

Thông tin tác giả