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Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies.

ABSTRACT: Dynamic locomotion plays a crucial role for legged robots to fulfill tasks in unstructured environments. This paper proposes whole-body kinematic and dynamic modeling method s based on screw theory for a quadruped robot using different gaits and mechanism topologies. Unlike simplified models such as centroid or inverse pendulum models, the methods proposed here can handle 10-dimensional mass and inertia for each part. The only simplification is that foot contact models are treated as spherical joints. Models of three different mechanism topologies are formulated: (1) Standing phase: a system consisting of one end-effector, the body, and four limbs, the legs; (2) Walking phase: a system consisting of one or two lifting legs (depending on the chosen gait), two or three supporting legs; (3) Floating phase: a system in which all legs detach from the ground. Control strategies based on our models are also introduced, which includes walk and trot gait plans. In our control system, two additional types of information are provided: (1) contacting forces are given by force sensors installed under feet; (2) body poses are determined by an inertial measurement unit (IMU). Combined with the sensor data and calibrated mass, inertia, and friction, the joint torque can be estimated accurately in simulation and experiment. Our prototype, the "XiLing" robot, is built to verify the methods proposed in this paper, and the results show that the models can be solved quickly and leads to steady locomotions.

SUBMITTER: Yan W

PROVIDER: S-EPMC8725662 | biostudies-literature |

REPOSITORIES: biostudies-literature

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Project description:We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is possible without sensory signals to some extend, and tracking becomes robust when feedback control is added (Ajallooeian, 2015). By incorporating mechanical and control blueprints inspired from animals, and by observing the resulting robot locomotion characteristics, we aim to understand the contribution of individual components. Legged robots have a wide mechanical and control design parameter space, and a unique potential as research tools to investigate principles of biomechanics and legged locomotion control. But the hardware and controller design can be a steep initial hurdle for academic research. To facilitate the easy start and development of legged robots, Oncilla-robot's blueprints are available through open-source. The robot's locomotion capabilities are shown in several scenarios. Specifically, its spring-loaded pantographic leg design compensates for overdetermined body and leg postures, i.e., during turning maneuvers, locomotion outdoors, or while going up and down slopes. The robot's active degree of freedom allow tight and swift direction changes, and turns on the spot. Presented hardware experiments are conducted in an open-loop manner, with little control and computational effort. For more versatile locomotion control, Oncilla-robot can sense leg joint rotations, and leg-trunk forces. Additional sensors can be included for feedback control with an open communication protocol interface. The robot's customized actuators are designed for robust actuation, and efficient locomotion. It trots with a cost of transport of 3.2 J/(Nm), at a speed of 0.63 m s-1 (Froude number 0.25). The robot trots inclined slopes up to 10°, at 0.25 m s-1. The multi-body Webots model of Oncilla robot, and Oncilla robot's extensive software architecture enables users to design and test scenarios in simulation. Controllers can directly be transferred to the real robot. Oncilla robot's blueprints are open-source published (hardware GLP v3, software LGPL v3).

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Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies.

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