DataVXJournal of Bionic EngineeringPaper
journal article·2024-09

Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

Bo You, Shangdong Shi, Chen Chen, Jiayu Li, Nan Li, Liang Ding

Journal of Bionic Engineering· Volume 21· Issue 5
Publisher page
Bibliographic record

Abstract

No abstract is available for this record. The assistant can identify its topic from the title, but cannot infer the study’s results.

Source: Not provided · Quality: missing

Research context

OpenAlex topics: Robotic Locomotion and Control · Robot Manipulation and Learning · Robotic Mechanisms and Dynamics

SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.

References (28)

Show source-provided references
1. Polo, J. D. M., & Alcantara, J. H. A. (2020). Stability analysis of locomotion using normalized dynamic energy stability margin for a hexapod robot ROMERIN. In 2020 IEEE Congreso Bienal de Argentina (ARGENCON), Resistencia, Argentina, 1–8. https://doi.org/10.1109/ARGENCON49523.2020.950543510.1109/ARGENCON49523.2020.9505435 ↗
2. You, B., Li, K., Li, J., & Liu, D. (2021). Instability adjustment and fault-tolerant gait design for hexapod robot single leg failure. Journal of Mechanical Engineering, 57, 100–109. https://doi.org/10.3901/JME.2021.01.10010.3901/JME.2021.01.100 ↗
3. Liu, Y., Fan, X., Ding, L., Wang, J., Liu, T., & Gao, H. (2020). Fault-tolerant tripod gait planning and verification of a hexapod robot. Applied Sciences, 10(8), 2959. https://doi.org/10.3390/app1008295910.3390/app10082959 ↗
4. Liu, Y., & Xu, Y. (2020). Free gait planning of hexapod robot based on improved DQN algorithm. In 2020 IEEE 2nd International Conference on Civil Aviation Safety and Information Technology (ICCASIT), Weihai, China, 488–491. https://doi.org/10.1109/ICCASIT50869.2020.936853110.1109/ICCASIT50869.2020.9368531 ↗
5. Beaber, S. I., Abdelhamid, A. Y., & Elyazed, M. M. A. (2020). Road following for hexapod mobile robot with adaptive tripod Gait. In 2020 12th International Conference on Electrical Engineering (ICEENG), Cairo, Egypt, 454–460. https://doi.org/10.1109/ICEENG45378.2020.917174810.1109/ICEENG45378.2020.9171748 ↗
6. Chen, C., Zha, F., Guo, W., Li, Z., Sun, L., & Shi, J. (2020). Trajectory adaptation of biomimetic equilibrium point for stable locomotion of a large-size hexapod robot. Autonomous Robots, 45, 155–174. https://doi.org/10.1007/s10514-020-09955-410.1007/s10514-020-09955-4 ↗
7. Sun, Q., & Gao, F. (2016). An online gait planner of hexapod robot to safely pass through crowded environment based on tactile sense and virtual dynamic model. In 2016 9th International Conference on Human System Interactions (HSI), Portsmouth, UK, 176–182. https://doi.org/10.1109/HSI.2016.752962810.1109/HSI.2016.7529628 ↗
8. Yang, J. M. (2009). Algebraic force distribution in hexapod walking robots with a failed Leg. Journal of The Korean Institute of Intelligent Systems, 19, 457–463. https://doi.org/10.5391/JKIIS.2009.19.4.45710.5391/JKIIS.2009.19.4.457 ↗
9. Wang, G., Ding, L., Gao, H., Deng, Z., Liu, Z., & Yu, H. (2019). Minimizing the energy consumption for a hexapod robot based on optimal force distribution. IEEE Access, 8, 5393–5406. https://doi.org/10.1109/ACCESS.2019.296252710.1109/ACCESS.2019.2962527 ↗
10. Bhavanibhatla, K., Suresh-Fazeela, S., & Pratihar, D. K. (2021). A study on determining optimal base location of a serial manipulator mounted on a hexapod mobile robot. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 43(4), 1–10. https://doi.org/10.1007/s40430-021-02937-210.1007/s40430-021-02937-2 ↗
11. Tikam, M., Withey, D., & Theron, N. J. (2020). Posture control for a low-cost commercially-available hexapod robot. 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 4498–4504. https://doi.org/10.1109/ICRA40945.2020.919714710.1109/ICRA40945.2020.9197147 ↗
12. Kang, X., Wang, S., Wang, J., Wang, X., Chen, Z., & Si, J. (2021). High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain. Chinese Journal of Aeronautics, 34(5), 652–665. https://doi.org/10.1016/j.cja.2020.11.01210.1016/j.cja.2020.11.012 ↗
13. Luneckas, M., Luneckas, T., Udris, D., Plonis, D., Maskeliūnas, R., & Damaševičius, R. (2020). A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots. Intelligent Service Robotics, 14, 9–24. https://doi.org/10.1007/s11370-020-00340-910.1007/s11370-020-00340-9 ↗
14. Kwak, B., Park, H., & Bae, J. (2016). Development of a quadruped robot with redundant DOFs for high-degree of functionality and adaptation. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Canada, 608–613. https://doi.org/10.1109/AIM.2016.757683510.1109/AIM.2016.7576835 ↗
15. Yu, S., Ye, C., Jiang, C., & Li, H. (2019). A study on slippage and tip-over stability for an omnidirectional mobile robot with longitudinal MY-wheels. In 2019 IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China, 1484–1489. https://doi.org/10.1109/ICMA.2019.881649410.1109/ICMA.2019.8816494 ↗
16. Zhong, G., Deng, H., Kobayashi, Y., & Xin, G. (2014). Measure and control of stability for mobile robots. In 2014 Proceedings of the SICE Annual Conference (SICE), Sapporo, Japan, 1079–1084. https://doi.org/10.1109/SICE.2014.693525210.1109/SICE.2014.6935252 ↗
17. Safar, M. J., Watanabe, K., Maeyama, S., & Nagai, I. (2012). Tip-over stability prediction for a holonomic omnidirectional transport mobile robot. In The 6th International Conference on Soft Computing and Intelligent Systems, and The 13th International Symposium on Advanced Intelligence Systems, Kobe, Japan, 763–768. https://doi.org/10.1109/SCIS-ISIS.2012.650521710.1109/SCIS-ISIS.2012.6505217 ↗
18. Liu, Z., Chen, S., & Luo, X. (2013). Judgment and adjustment of tipping instability for hexapod robots. In 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, 1941–1946. https://doi.org/10.1109/ROBIO.2013.673975310.1109/ROBIO.2013.6739753 ↗
19. Shi, Y., Wang, P., Wang, X., Zha, F., Jiang, Z., Guo, W., & Li, M. (2019). Bio-inspired equilibrium point control scheme for quadrupedal locomotion. IEEE Transactions on Cognitive and Developmental Systems, 11, 200–209. https://doi.org/10.1109/TCDS.2018.285359710.1109/TCDS.2018.2853597 ↗
20. Li, J., & Nguyen, Q. (2021). Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots. In 2021 60th IEEE Conference on Decision and Control (CDC), Austin, USA, 1024–1030. https://doi.org/10.48550/arXiv.2104.0006510.48550/arXiv.2104.00065 ↗
21. Li, J., You, B., Ding, L., Yu, X., Li, W., Zhang, T., & Gao, H. (2021). Dual-master/single-slave haptic teleoperation system for semiautonomous bilateral control of hexapod robot subject to deformable rough terrain. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 52, 2435–2449. https://doi.org/10.1109/TSMC.2021.304984810.1109/TSMC.2021.3049848 ↗
22. Lee, H., Kwon, C., Lee, G., Jeong, S., & Chong, N. Y. (2013). Development of an easy-to-manipulate assistive cart system using an observer based impedance control. In 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, Korea, 255–256. https://doi.org/10.1109/URAI.2013.667736010.1109/URAI.2013.6677360 ↗
23. Shi, Y., He, X., Zou, W., Yu, B., Yuan, L., Li, M., Pan, G., & Ba, K. (2022). Multi-objective optimal torque control with simultaneous motion and force tracking for hydraulic quadruped robots. Machines, 10(3), 1–18. https://doi.org/10.3390/machines1003017010.3390/machines10030170 ↗
24. Jin, Z., Qin, D., Liu, A., Zhang, W., & Yu, L. (2023). Model predictive variable impedance control of manipulators for adaptive precision-compliance tradeoff. IEEE/ASME Transactions on Mechatronics, 28, 1174–1186. https://doi.org/10.1109/TMECH.2022.320435010.1109/TMECH.2022.3204350 ↗
25. Ding, L., Xu, P., Li, Z., Zhou, R., Gao, H., Deng, Z., & Liu, G. (2022). Pressing and rubbing: Physics-informed features facilitate haptic terrain classification for legged robots. IEEE Robotics and Automation Letters, 7, 5990–5997. https://doi.org/10.1109/LRA.2022.316083310.1109/LRA.2022.3160833 ↗
26. Li, J., You, B., Ding, L., Xu, J., Li, W., Chen, H., & Gao, H. (2018). A novel bilateral haptic teleoperation approach for hexapod robot walking and manipulating with legs. Robotics and Autonomous Systems, 108, 1–12. https://doi.org/10.1016/j.robot.2018.06.00110.1016/j.robot.2018.06.001 ↗
27. You, B., Li, J., Ding, L., Xu, J., Li, W., Li, K., & Gao, H. (2017). Semi-autonomous bilateral teleoperation of hexapod robot based on haptic force feedback. Journal of Intelligent & Robotic Systems, 91, 583–602. https://doi.org/10.1007/s10846-017-0738-810.1007/s10846-017-0738-8 ↗
28. Huang, Q., & Fukuhara, Y. (2006). Posture and vibration control based on virtual suspension model using sliding mode control for six-legged walking robot. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, 5232–5237. https://doi.org/10.1109/IROS.2006.28166410.1109/IROS.2006.281664 ↗