Dynamic Performance, Mobility, and Agility of Multilegged Robots

[+] Author and Article Information
Alan P. Bowling

Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556-0539abowling@nd.edu

Available at http://www.cs.mcgill.ca/ɫfukuda/soft/cdd~home/cdd.html

J. Dyn. Sys., Meas., Control 128(4), 765-777 (Oct 12, 2005) (13 pages) doi:10.1115/1.2229252 History: Received August 03, 2004; Revised October 12, 2005

Background . This article presents a method for describing the dynamic performance of multilegged robots. It involves examining how well the legged system uses ground contact to produce acceleration of its body; these abilities are referred to as its force and acceleration capabilities. These capabilities are bounded by actuator torque limits and the no-slip condition. Method of Approach . The approach followed here is based on the dynamic capability equations, which are extended to consider frictional ground contact as well as the changes in degrees-of-freedom that occurs as the robot goes into and out of contact with the ground. Results . The analysis describes the maximum translational and rotational accelerations of the main-body that are guaranteed to be achievable in every direction without causing slipping at the contact points or saturating an actuator. Conclusion . This analysis provides a description of the mobility and agility of legged robots. The method is illustrated using a hexapod as an example.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

An example of a multilegged robot

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Figure 3

Hypothetical hypersurface

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Figure 4

Vertex of DCH in Fig. 3

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Figure 5

A three DOF leg mechanism

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Figure 6

Vertices of the dynamic capability hypersurface

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Figure 7

DCC for six legs in contact (a) due to actuators, (b) due to friction, (c) due to actuators and friction

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Figure 8

Dynamic capability curve from Fig. 7

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Figure 9

Worst-case directions of segment I for slipping

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Figure 10

Worst-case directions of segment II for slipping

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Figure 11

Worst-case directions of segment III for femur actuator saturation

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Figure 12

Peak in the DCH

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Figure 13

Worst-case directions for peak in the DCH of Fig. 1

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Figure 14

Plot of all worst-case translational acceleration directions scaled by ∣v̇b∣×

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Figure 15

Plot of all worst-case translational acceleration directions scaled by ∣v̇b∣× where the ∣v̇b∣ intercept is less than 10m∕s2



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