Step rolling planning of a six-legged robot with 1-DOF waist for slope climbing
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摘要
Walking on inclined terrains or slopes is challenging for multi-legged robots. Robots should be able to handle more strict constraints imposed by the physical system than they do on flat terrains, such as smaller leg workspace and tighter stability margin. At the same time, robots need to autonomously generate constrained and stable motions to accommodate terrain inclination and unevenness. With regard to these issues, this paper provides a solution from two perspectives, mechanism design and planning methodology. The robot mechanism with a 1-DOF waist is firstly proposed to meet the requirements of the leg workspace and the static stability. After that, a step rolling planning scheme is introduced, in which the robot schedules its body planar 2D motion according to the human guidance and plans its elevation, roll, pitch as well as leg motions autonomously incorporating sensory feedbacks. The step rolling planning scheme ensures smooth and safe motion transitions from step to step.At last, simulations and experiments are carried out, demonstrating the effectiveness of our mechanical design and the proposed planning method.
Walking on inclined terrains or slopes is challenging for multi-legged robots. Robots should be able to handle more strict constraints imposed by the physical system than they do on flat terrains, such as smaller leg workspace and tighter stability margin. At the same time, robots need to autonomously generate constrained and stable motions to accommodate terrain inclination and unevenness. With regard to these issues, this paper provides a solution from two perspectives, mechanism design and planning methodology. The robot mechanism with a 1-DOF waist is firstly proposed to meet the requirements of the leg workspace and the static stability. After that, a step rolling planning scheme is introduced, in which the robot schedules its body planar 2D motion according to the human guidance and plans its elevation, roll, pitch as well as leg motions autonomously incorporating sensory feedbacks. The step rolling planning scheme ensures smooth and safe motion transitions from step to step.At last, simulations and experiments are carried out, demonstrating the effectiveness of our mechanical design and the proposed planning method.
Walking on inclined terrains or slopes is challenging for multi-legged robots. Robots should be able to handle more strict constraints imposed by the physical system than they do on flat terrains, such as smaller leg workspace and tighter stability margin. At the same time, robots need to autonomously generate constrained and stable motions to accommodate terrain inclination and unevenness. With regard to these issues, this paper provides a solution from two perspectives, mechanism design and planning methodology. The robot mechanism with a 1-DOF waist is firstly proposed to meet the requirements of the leg workspace and the static stability. After that, a step rolling planning scheme is introduced, in which the robot schedules its body planar 2D motion according to the human guidance and plans its elevation, roll, pitch as well as leg motions autonomously incorporating sensory feedbacks. The step rolling planning scheme ensures smooth and safe motion transitions from step to step.At last, simulations and experiments are carried out, demonstrating the effectiveness of our mechanical design and the proposed planning method.
引文
1 Bruzzone L,Quaglia G.Review article:Locomotion systems for ground mobile robots in unstructured environments.Mech Sci,2012,3:49-62
2 Zhuang H C,Gao H B,Deng Z Q,et al.A review of heavy-duty legged robots.Sci China Tech Sci,2014,57:298-314
3 Kim J Y,Park I W,Oh J H.Walking control algorithm of biped humanoid robot on uneven and inclined floor.J Intell Robot Syst,2007,48:457-484
4 Hong Y D,Lee B J,Kim J H.Command state-based modifiable walking pattern generation on an inclined plane in pitch and roll directions for humanoid robots.IEEE/ASME Trans Mechatron,2011,16:783-789
5 Li Z,Zhou C,Tsagarakis N,et al.Compliance control for stabilizing the humanoid on the changing slope based on terrain inclination estimation.Auton Robot,2016,40:955-971
6 Bi S,Zhuang Z J,Xia T,et al.Multi-objective optimization for a humanoid robot walking on slopes.In:2011 International Conference on Machine Learning and Cybernetics(ICMLC).Guilin:IEEE,2011.1261-1267
7 Sugahara Y,Mikuriya Y,Hashimoto K,et al.Walking control method of biped locomotors on inclined plane.In:Proceedings of the 2005IEEE International Conference on Robotics and Automation,2005(ICRA 2005).Barcelona:IEEE,2005.1977-1982
8 Sugahara Y,Ohta A,Hashimoto K,et al.Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism.In:2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,2005(IROS 2005).Edmonton:IEEE,2005.1489-1494
9 Hashimoto K,Sugahara Y,Sunazuka H,et al.Biped landing pattern modification method with nonlinear compliance control.In:Proceedings 2006 IEEE International Conference on Robotics and Automation,2006(ICRA 2006).Orlando:IEEE,2006.1213-1218
10 Hashimoto K,Hayashi A,Sawato T,et al.Terrain-adaptive control to reduce landing impact force for human-carrying biped robot.In:IEEE/ASME International Conference on Advanced Intelligent Mechatronics,2009(AIM 2009).Singapore:IEEE,2009.174-179
11 Sato T,Sakaino S,Ohashi E,et al.Walking trajectory planning on stairs using virtual slope for biped robots.IEEE Trans Ind Electron,2011,58:1385-1396
12 Tsukagoshi H,Hirose S,Yoneda K.Maneuvering operations of a quadruped walking robot on a slope.Adv Robotics,1996,11:359-375
13 Hirose S,Yoneda K,Tsukagoshi H.TITAN VII:Quadruped walking and manipulating robot on a steep slope.In:IEEE International Conference on Robotics and Automation.Albuquerque:IEEE,1997.494-500
14 Doi T,Hodoshima R,Hirose S,et al.Development of a quadruped walking robot to work on steep slopes,TITAN XI(walking motion with compensation for compliance).In:IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005).Edmonton:IEEE,2005.2067-2072
15 Zhang W Y,Zhang L.Research of a static balance method for a quadruped robot walking on a slope.In:2011 IEEE International Conference on Information and Automation(ICIA).Shenzhen:IEEE,2011.261-266
16 Gui B,Wang H,Chen W.Stability analysis for a hexapod robot walking on slopes.In:IEEE International Conference on Robotics and Biomimetics(ROBIO).Zhuhai:IEEE,2015.1888-1893
17 Belter D,Skrzypczyński P.Posture optimization strategy for a statically stable robot traversing rough terrain.In:2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Vilamoura:IEEE,2012.2204-2209
18 Zhuang H,Gao H,Ding L,et al.Method for analyzing articulated torques of heavy-duty six-legged robot.Chin J Mech Eng,2013,26:801-812
19 Saranli U,Buehler M,Koditschek D E.RHex:A simple and highly mobile hexapod robot.Int J Robotics Res,2001,20:616-631
20 Moore E Z,Campbell D,Grimminger F,et al.Reliable stair climbing in the simple hexapod“RHex”.In:Proceedings.ICRA’02.IEEE International Conference on Robotics and Automation.Washington DC:IEEE,2002.2222-2227
21 Tian Y,Gao F.Optimized body position adjustment of a six-legged robot walking on inclined plane.In:Mechanism and Machine Science:Proceedings of ASIAN MMS 2016&CCMMS 2016.Singapore:Springer,2017.45-55
22 Pan Y,Gao F.Position model computational complexity of walking robot with different parallel leg mechanism topology patterns.Mech Mach Theor,2017,107:324-337
23 Park S,Lee Y J.Discontinuous zigzag gait planning of a quadruped walking robot with a waist-joint.Adv Robot,2007,21:143-164
24 Park S H,Kim D S,Lee Y J.Discontinuous spinning gait of a quadruped walking robot with waist-joint.In:2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005).Edmonton:IEEE,2005.2744-2749
25 Raibert M,Blankespoor K,Nelson G,et al.BigDog,the rough-terrain quadruped robot.IFAC Proc Vol,2008,41:10822-10825
26 Pan Y,Gao F,Qi C,et al.Human-tracking strategies for a six-legged rescue robot based on distance and view.Chin J Mech Eng,2016,29:219-230
27 Xu Y,Gao F,Pan Y,et al.Method for six-legged robot stepping on obstacles by indirect force estimation.Chin J Mech Eng,2016,29:669-679
2 Zhuang H C,Gao H B,Deng Z Q,et al.A review of heavy-duty legged robots.Sci China Tech Sci,2014,57:298-314
3 Kim J Y,Park I W,Oh J H.Walking control algorithm of biped humanoid robot on uneven and inclined floor.J Intell Robot Syst,2007,48:457-484
4 Hong Y D,Lee B J,Kim J H.Command state-based modifiable walking pattern generation on an inclined plane in pitch and roll directions for humanoid robots.IEEE/ASME Trans Mechatron,2011,16:783-789
5 Li Z,Zhou C,Tsagarakis N,et al.Compliance control for stabilizing the humanoid on the changing slope based on terrain inclination estimation.Auton Robot,2016,40:955-971
6 Bi S,Zhuang Z J,Xia T,et al.Multi-objective optimization for a humanoid robot walking on slopes.In:2011 International Conference on Machine Learning and Cybernetics(ICMLC).Guilin:IEEE,2011.1261-1267
7 Sugahara Y,Mikuriya Y,Hashimoto K,et al.Walking control method of biped locomotors on inclined plane.In:Proceedings of the 2005IEEE International Conference on Robotics and Automation,2005(ICRA 2005).Barcelona:IEEE,2005.1977-1982
8 Sugahara Y,Ohta A,Hashimoto K,et al.Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism.In:2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,2005(IROS 2005).Edmonton:IEEE,2005.1489-1494
9 Hashimoto K,Sugahara Y,Sunazuka H,et al.Biped landing pattern modification method with nonlinear compliance control.In:Proceedings 2006 IEEE International Conference on Robotics and Automation,2006(ICRA 2006).Orlando:IEEE,2006.1213-1218
10 Hashimoto K,Hayashi A,Sawato T,et al.Terrain-adaptive control to reduce landing impact force for human-carrying biped robot.In:IEEE/ASME International Conference on Advanced Intelligent Mechatronics,2009(AIM 2009).Singapore:IEEE,2009.174-179
11 Sato T,Sakaino S,Ohashi E,et al.Walking trajectory planning on stairs using virtual slope for biped robots.IEEE Trans Ind Electron,2011,58:1385-1396
12 Tsukagoshi H,Hirose S,Yoneda K.Maneuvering operations of a quadruped walking robot on a slope.Adv Robotics,1996,11:359-375
13 Hirose S,Yoneda K,Tsukagoshi H.TITAN VII:Quadruped walking and manipulating robot on a steep slope.In:IEEE International Conference on Robotics and Automation.Albuquerque:IEEE,1997.494-500
14 Doi T,Hodoshima R,Hirose S,et al.Development of a quadruped walking robot to work on steep slopes,TITAN XI(walking motion with compensation for compliance).In:IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005).Edmonton:IEEE,2005.2067-2072
15 Zhang W Y,Zhang L.Research of a static balance method for a quadruped robot walking on a slope.In:2011 IEEE International Conference on Information and Automation(ICIA).Shenzhen:IEEE,2011.261-266
16 Gui B,Wang H,Chen W.Stability analysis for a hexapod robot walking on slopes.In:IEEE International Conference on Robotics and Biomimetics(ROBIO).Zhuhai:IEEE,2015.1888-1893
17 Belter D,Skrzypczyński P.Posture optimization strategy for a statically stable robot traversing rough terrain.In:2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Vilamoura:IEEE,2012.2204-2209
18 Zhuang H,Gao H,Ding L,et al.Method for analyzing articulated torques of heavy-duty six-legged robot.Chin J Mech Eng,2013,26:801-812
19 Saranli U,Buehler M,Koditschek D E.RHex:A simple and highly mobile hexapod robot.Int J Robotics Res,2001,20:616-631
20 Moore E Z,Campbell D,Grimminger F,et al.Reliable stair climbing in the simple hexapod“RHex”.In:Proceedings.ICRA’02.IEEE International Conference on Robotics and Automation.Washington DC:IEEE,2002.2222-2227
21 Tian Y,Gao F.Optimized body position adjustment of a six-legged robot walking on inclined plane.In:Mechanism and Machine Science:Proceedings of ASIAN MMS 2016&CCMMS 2016.Singapore:Springer,2017.45-55
22 Pan Y,Gao F.Position model computational complexity of walking robot with different parallel leg mechanism topology patterns.Mech Mach Theor,2017,107:324-337
23 Park S,Lee Y J.Discontinuous zigzag gait planning of a quadruped walking robot with a waist-joint.Adv Robot,2007,21:143-164
24 Park S H,Kim D S,Lee Y J.Discontinuous spinning gait of a quadruped walking robot with waist-joint.In:2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005).Edmonton:IEEE,2005.2744-2749
25 Raibert M,Blankespoor K,Nelson G,et al.BigDog,the rough-terrain quadruped robot.IFAC Proc Vol,2008,41:10822-10825
26 Pan Y,Gao F,Qi C,et al.Human-tracking strategies for a six-legged rescue robot based on distance and view.Chin J Mech Eng,2016,29:219-230
27 Xu Y,Gao F,Pan Y,et al.Method for six-legged robot stepping on obstacles by indirect force estimation.Chin J Mech Eng,2016,29:669-679