Novel method of gait switching in six-legged robot walking on continuous-nondifferentiable terrain by utilizing stability and interference criteria
Sign Up to like & getrecommendations! Published in 2020 at "Science China Technological Sciences"
DOI: 10.1007/s11431-020-1588-5
Abstract: Continuous-nondifferentiable terrains are extremely challenging for the environment adaption of six-legged robots. Previous researches have focused on gait planning methods to improve inherent ability of legged robots to walk over moderate terrains. However, most six-legged… read more here.
Keywords: continuous nondifferentiable; legged robots; gait switching; robot ... See more keywords
Development of a Lightweight and High-efficiency Compact Cycloidal Reducer for Legged Robots
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Precision Engineering and Manufacturing"
DOI: 10.1007/s12541-019-00215-9
Abstract: Actuating systems for the proprioceptive control of legged robots must have a high mechanical efficiency and mechanical bandwidth for high torque transmission to avoid power transmission losses. We developed a high-efficiency compact cycloidal reducer for… read more here.
Keywords: high efficiency; reducer; legged robots; efficiency compact ... See more keywords
A new concept of contact joint to model the geometric foot-environment contacts for efficiently determining possible stances for legged robots
Sign Up to like & getrecommendations! Published in 2021 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2021.104327
Abstract: Abstract The determination of stances is of vital importance for legged robots that work in challenging environments where the terrain may be composed of uneven and slippery surfaces. However, the exploitation of uneven and slippery… read more here.
Keywords: possible stances; legged robots; foot; contact joint ... See more keywords
Fractional-order active fault-tolerant force-position controller design for the legged robots using saturated actuator with unknown bias and gain degradation
Sign Up to like & getrecommendations! Published in 2018 at "Mechanical Systems and Signal Processing"
DOI: 10.1016/j.ymssp.2017.11.010
Abstract: Abstract In this paper, a novel fault accommodation strategy is proposed for the legged robots subject to the actuator faults including actuation bias and effective gain degradation as well as the actuator saturation. First, the… read more here.
Keywords: fault; fault tolerant; legged robots; force ... See more keywords
Multi-legged robots: progress and challenges
Sign Up to like & getrecommendations! Published in 2022 at "National Science Review"
DOI: 10.1093/nsr/nwac214
Abstract: Multi-legged robots have achieved great advancements and gained attention from academia and industry. Opportunities are rising for their potential applications in human society and dangerous environments. read more here.
Keywords: robots progress; progress challenges; multi legged; legged robots ... See more keywords
Learning physical characteristics like animals for legged robots
Sign Up to like & getrecommendations! Published in 2023 at "National Science Review"
DOI: 10.1093/nsr/nwad045
Abstract: Abstract Physical characteristics of terrains, such as softness and friction, provide essential information for legged robots to avoid non-geometric obstacles, like mires and slippery stones, in the wild. The perception of such characteristics often relies… read more here.
Keywords: legged robots; learning physical; animals legged; physical characteristics ... See more keywords
Design, Modelling and Validation of Hydraulic Servo Actuator With Passive Compliance for Legged Robots
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Access"
DOI: 10.1109/access.2018.2875129
Abstract: The hydraulic driven legged robots walking on the ground always encounter impact forces due to the contacts between feet and ground. Aiming to reduce the impact forces, a novel passive compliance method is proposed by… read more here.
Keywords: hydraulic servo; impact forces; legged robots; actuator ... See more keywords
Haptic Inspection of Planetary Soils With Legged Robots
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2896732
Abstract: Planetary exploration robots encounter challenging terrain during operation. Vision-based approaches have failed to reliably predict soil characteristics in the past, making it necessary to probe the terrain tactilely. We present a robust, haptic inspection approach… read more here.
Keywords: soils legged; haptic inspection; legged robots; inspection planetary ... See more keywords
Pressing and Rubbing: Physics-Informed Features Facilitate Haptic Terrain Classification for Legged Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3160833
Abstract: Non-geometric hazards like sinkage and slipping, correlated to terrain categories, have an apparent effect on the locomotion of legged robots. Tactile-based terrain classification is a more accurate way to distinguish terrains in different properties than… read more here.
Keywords: legged robots; physics; terrain; physics informed ... See more keywords
Feasible Wrench Set Computation for Legged Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3184806
Abstract: During locomotion, legged robots interact with the ground by sequentially establishing and breaking contact. The interaction wrenches that arise from contact are used to steer the robot’s Center of Mass (CoM) and reject perturbations that… read more here.
Keywords: legged robots; contact; feasible wrench; model ... See more keywords
Generic Neural Locomotion Control Framework for Legged Robots
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Neural Networks and Learning Systems"
DOI: 10.1109/tnnls.2020.3016523
Abstract: In this article, we present a generic locomotion control framework for legged robots and a strategy for control policy optimization. The framework is based on neural control and black-box optimization. The neural control combines a… read more here.
Keywords: locomotion control; control; legged robots; framework ... See more keywords