Development of an adaptive hexapod robot based on Follow-the-contact-point gait control and Timekeeper control
Development of an adaptive hexapod robot based on Follow-the-contact-point gait control and Timekeeper control
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DOI：
10.1109/iros40897.2019.8968158
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发表时间：
2019-11
期刊：
影响因子：
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通讯作者：
Yuki Murata;S. Inagaki;Tatsuya Suzuki
中科院分区：
文献类型：
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作者：
Yuki Murata;S. Inagaki;Tatsuya Suzuki
本文提出了一种基于人工脚定位导航的六足机器人在不规则地形上行走的控制方法，并对其进行了评价。控制方法基于跟随接触点(FCP)步态控制，该步态控制的工作原理是每条腿跟随其前腿的接触点。因此，所有腿的接触点规划都归结为其中一条前腿。为了将FCP步态控制专门用于六足机器人，增加了三种控制结构。首先，在从站立阶段到摆动阶段的过渡中添加了新的约束，以在腿离开地面时保持静态稳定性。其次，增加了接触腿的实时姿态控制系统。第三种是自适应控制，调整每种控制模式的运行时间，满足无死锁和静态稳定的要求。将所提出的控制结构安装在小型六足机器人上，并通过机器人在不平坦地形上行走的实验对其性能进行了评估。
In this paper, a new control method for a hexapod robot walking on irregular terrain based on a human operator’s foot-placement navigation is proposed and evaluated. The control method is based on the Follow-the-contact-point (FCP) gait control that operates on the principle that each leg follows the contact point of its foreleg. Hence, planning the contact points for all the legs are summarized to one of the front legs. To dedicate the FCP gait control to a hexapod robot, three control architectures are added. First, new constraints in the transition from a stance phase to a swing phase are added to maintain static stability when a leg leaves the ground. Second, a real-time posture control system for contacting legs is added. The third is an adaptive control to adjust the time elapsed in each control mode, by which specifications of deadlock-free and static stability are satisfied. The proposed control architecture is installed to a small hexapod robot, and its performance is evaluated through experiments wherein the robot walks on uneven terrain.