Estimation of the contact forces between the hexapod legs and the ground during walking in the tripod gait

• Autorzy: Grzelczyk D. , Stańczyk B. , Awrejcewicz J.
• Konferencja: Symposium Vibrations In Physical Systems (27 ; 09-13.05.2016 ; Będlewo koło Poznania ; Polska)
• Języki publikacji: EN

Abstrakty

EN

The paper is devoted to the dynamical modelling of the hexapod robot walking on a flat and hard ground. The main goal is to determine time series of reaction forces acting on individual legs of the robot during tripod gait often used both by the six-legged insects as well as mobile walking robots found in engineering applications. The movement of the considered robot is realized by the kinematic excitation of its legs using the so-called Central Pattern Generator (CPG) method. The paper demonstrates that there are different contact forces and overload acting on the robot, resulting from different models working as a CPG. The mentioned forces belong to the important issues that should be taken into account when the robot locomotion on the unknown terrain is planned.

Słowa kluczowe

EN

multi-legged robot; six-legged robot; hexapod; tripod gait; contact forces; reaction forces

PL

robot sześcionożny; hexapod; tripod kroczący; siły kontaktowe; siła reakcji

• Wydawca: Poznan University of Technology. Institute of Applied Mechanics
• Czasopismo: Vibrations in Physical Systems
• Rocznik: 2016
• Tom: Vol. 27
• Strony: 107--114
• Opis fizyczny: Bibliogr. 10 poz., 1 rys., wykr.

Twórcy

autor

Grzelczyk D.

• Department of Automation, Biomechanics and Mechatronics, Lodz University of Technology, TUL, 1 /15 Stefanowski Str., 90-924 Lodz

autor

Stańczyk B.

• Department of Automation, Biomechanics and Mechatronics, Lodz University of Technology, TUL, 1 /15 Stefanowski Str., 90-924 Lodz

autor

Awrejcewicz J.

• Department of Automation, Biomechanics and Mechatronics, Lodz University of Technology, TUL, 1 /15 Stefanowski Str., 90-924 Lodz

Bibliografia

• 1. T. Zielińska, Biological inspiration used for robots motion synthesis, J. Physiol-Paris, 103 (2009) 133 – 140.
• 2. T. Zielińska, C. M. Chew, P. Kryczka, T. Jargilo, Robot gait synthesis using the scheme of human motion skills development, Mech. Mach. Theory, 44(3) (2009) 541 – 558.
• 3. X. Chen, L. Wang, X. Ye, G. Wang, H. Wang, Prototype development and gait planning of biologically inspired multi-legged crablike robot, Mechatronics, 23 (2013) 429 – 444.
• 4. B. Klaassen, R. Linnemann, D. Spenneberg, F Kirchner, Biomimetic walking robot SCORPION: control and modeling, Robot. Auton. Syst., 41 (2002) 69 – 76.
• 5. http://www.pinktentacle.com/2007/07/halluc-ii-8-legged-robot-vehicle/
• 6. R.B. McGhee, Vehicular legged locomotion, Adv. in Autom. and Robot., (1985).
• 7. E. Burkus, P. Odry, Mechanical and Walking Optimization of a Hexapod Robot using PSO, IEEE 9th International Conference on Computational Cybernetics, July 8-10, 2013, Tihany, Hungary.
• 8. D. Thilderkvist, S. Svensson, Motion Control of Hexapod Robot Using Model-Based Design, MSc Thesis. Department of Automatic Control, Lund University, SE-221 00 LUND, Sweden.
• 9. D. Grzelczyk, B. Stańczyk, J. Awrejcewicz, On the Hexapod Leg Control with Nonlinear Stick-Slip Vibrations, App. Mech. and Mat., 801 (2015) 12 – 24.
• 10. D. Grzelczyk, B. Stańczyk, J. Awrejcewicz, Prototype, control system architecture and controlling of the hexapod legs with nonlinear stick-slip vibrations, Mechatronics (2016), http://dx.doi.org/10.1016/j.mechatronics.2016.01.003.

Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.