Trajectory Correction and Locomotion Analysis of a Hexapod Walking Robot with Semi-Round Rigid Feet
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- Yaguang Zhu
- Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China
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- Bo Jin
- State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310028, China
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- Yongsheng Wu
- Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China
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- Tong Guo
- Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China
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- Xiangmo Zhao
- School of Information Engineering, Chang’an University, Xi’an 710064, China
書誌事項
- 公開日
- 2016-08-31
- 権利情報
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- https://creativecommons.org/licenses/by/4.0/
- DOI
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- 10.3390/s16091392
- 公開者
- MDPI AG
説明
<jats:p>Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value between the ideal foothold and real foothold is analyzed. The forward/inverse kinematic solutions between the ideal foothold and joint angular vectors are formulated and the problem of direct/inverse kinematic nonlinear mapping is solved by using the LS-SVM. Compared with the previous approximation method, this correction methodology has better accuracy and faster calculation speed with regards to inverse kinematics solutions. Experiments on a leg platform and a hexapod walking robot are conducted with multi-sensors for the analysis of foot tip trajectory, base joint vibration, contact force impact, direction deviation, and power consumption, respectively. The comparative analysis shows that the trajectory correction methodology can effectively correct the joint trajectory, thus eliminating the contact force influence of semi-round rigid feet, significantly improving the locomotion of the walking robot and reducing the total power consumption of the system.</jats:p>
収録刊行物
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- Sensors
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Sensors 16 (9), 1392-, 2016-08-31
MDPI AG
