Review
Engineering, Multidisciplinary
Priyaranjan Biswal, Prases K. Mohanty
Summary: Design, development, and motion planning of mobile robots are currently an active area of research in the field of robotics. Among mobile robots, quadrupedal robots are seen as superior to wheeled and tracked robots due to their potential for exploration in various terrains. Spot is highlighted as one of the most advanced and intelligent quadrupedal robots, with detailed discussions on the performance of each quadruped robot and future directions provided in the article.
AIN SHAMS ENGINEERING JOURNAL
(2021)
Article
Chemistry, Multidisciplinary
Zhaolu Li, Yumin Song, Xiaoli Zhang, Xiafu Peng, Ning Xu
Summary: This paper designs a bionic-robot dog as an imitation of biological form and movement. The structural and motion characteristics of the bionic-dog model are studied by analyzing the physiological structure of dogs and capturing motion data. Experimental results show that the bionic-robot dog can perform stable fast-gait walking, slow-gait walking, and gait transitions.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Multidisciplinary
Jian Bi, Teng Chen, Xuewen Rong, Guoteng Zhang, Guanglin Lu, Jingxuan Cao, Han Jiang, Yibin Li
Summary: In this paper, an efficient adaptive diagonal gait locomotion controller inspired by nature is designed for quadruped robots. The gait planning method proposed adjusts the gait cycle time and the proportion of stance and swing phase of each leg to form a variety of gaits as the robot's speed varies. The controller calculates the optimal joint torque using Virtual Model Control (VMC) and Whole-Body Control (WBC) to achieve the desired motion. Experiments have shown that the controller can consume less energy compared to the basic controller when the robot runs at different speeds.
JOURNAL OF BIONIC ENGINEERING
(2023)
Article
Automation & Control Systems
Ke Xu, Haitao Liu
Summary: This article addresses the optimal design of a large-deflection flexure-jointed linkage (FJL) used as the leg of a compliant quadruped robot. The kinematic and strain energy models of the proposed FJL are derived and verified by numerical simulations. Experimental tests demonstrate the effectiveness of the derived models and the feasibility of using compliant linkages for legged robots.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Ke Xu, Haitao Liu
Summary: This article addresses the optimal design of a large-deflection FJL for a compliant quadruped robot. The proposed FJL is derived from a rigid six-bar linkage to mimic the foot path of walking mammals. Its kinematic and strain energy models are verified through numerical simulations, showcasing the effectiveness of predicting deflections and the feasibility of applying compliant linkages for legged robots.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Construction & Building Technology
Sangyoon Park, Sanghyun Yoon, Sungha Ju, Joon Heo
Summary: This study presents an automated framework based on BIM for optimal scan positioning with a quadruped walking robot. The framework includes four main phases: generation of scan-position candidates, determination of optimal scan positions, ordering of optimal scan positions, and data collection with an autonomous scanning system. Experimental results showed that the proposed framework outperformed conventional approaches, with significantly reduced scan positions and operation time compared to manual scanning by skilled surveyors in real-world indoor environments. Future work will focus on automated registration and computational performance enhancement.
AUTOMATION IN CONSTRUCTION
(2023)
Article
Chemistry, Multidisciplinary
Yunde Shi, Shilin Li, Mingqiu Guo, Yuan Yang, Dan Xia, Xiang Luo
Summary: This study utilizes the physical-like mechanism of a bionic quadruped robot dog for designing, simulating, and implementing a structure capable of omnidirectional movements and smooth motions. Kinematic solutions, gait algorithms, and foot-ground contact modeling are explored to achieve the diagonal trot gait of the quadruped robot, which shows good balance during trot motion. The goal is to provide a comprehensive platform for novice researchers in studying the dynamics, contact modeling, gait planning, and attitude control of quadruped robots at an affordable cost.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Industrial
Xu Hao, Lang Wei, Yue Qiao, Shengzui Xu, Jian Bin Liao, Yu Xi, Wang Wei, Zhi-Wei Liu
Summary: This paper proposes a high-frequency MPC controller under the simplified model, which has a higher working efficiency and more stable control performance.
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
(2023)
Article
Environmental Sciences
Fangzheng Gao, Wenjun Tang, Jiacai Huang, Haiyang Chen
Summary: In this paper, a tightly coupled LiDAR vision inertial odometer (LVIO) method is proposed to address the positioning inaccuracy of quadruped robots. By combining point cloud data from 3D LiDAR, image feature information from binocular vision, and IMU inertial data, the precise indoor and outdoor positioning of quadruped robot is improved.
Article
Engineering, Multidisciplinary
Jihoon Kim, Dang Xuan Ba, Hoyeon Yeom, Joonbum Bae
Summary: Evolutionary Computation (EC) is used for gait optimization in quadruped robots, introducing foot placement perturbation for atypical solution search range and a convergence index to prevent premature cessation of learning. The proposed algorithm shows better fitness and a wider search range compared to conventional algorithms in optimizing walking performances of robots.
JOURNAL OF BIONIC ENGINEERING
(2021)
Article
Engineering, Mechanical
Masoumeh Safartoobi, Morteza Dardel, Hamidreza Mohammadi Daniali
Summary: This paper presents the application of an internal damping mechanism to the mathematical description of the simplest passive walking model, making walking natural and efficient. By using viscoelastic legs and precise boundary conditions, the biped starts walking from a stable condition and exhibits stable period-one gait cycles. Numerical simulations demonstrate that the overall effect of viscoelastic legs on passive walking is efficient in terms of stability and energy dissipation.
NONLINEAR DYNAMICS
(2022)
Article
Computer Science, Information Systems
Yuan Lipeng, Li Bing
Summary: In order to enhance the adaptability of a quadruped robot to various terrains and ensure the stability of its posture during gait switching, it is necessary to plan different gaits for the robot. This paper mainly focuses on the switching between three different gaits, and proposes a switching control method based on dynamic and static combination. The feasibility and effectiveness of the proposed strategy are verified through simulation and physical prototype experiments using Matlab-Adams co-simulation analysis.
Article
Chemistry, Multidisciplinary
Wujing Li, Linchao Wei, Xiaochen Zhang
Summary: This study introduces a high-performance, quadruped-assistive-robot expandable platform with wheel-leg mode transformation functions, designed for transporting goods in residential areas. Through the design of a compact torso-leg structure and a ligament-like transmission structure, the robot can move fast and carry loads up to 15 kg while remaining affordable.
APPLIED SCIENCES-BASEL
(2022)
Article
Computer Science, Information Systems
Fikih Muhamad, Jung-Su Kim, Jae-Han Park
Summary: This paper presents a robust perception-based control policy to overcome noises in the robot's perception when crossing challenging terrains. The control policy can estimate states and reduce the effect of noises from both proprioceptive and exteroceptive observations, making it capable of handling a higher ratio of noise. The robustness of the control policy is validated through simulations and comparisons with recurrent networks.
Article
Chemistry, Multidisciplinary
Wenkai Sun, Xiaojie Tian, Yong Song, Bao Pang, Xianfeng Yuan, Qingyang Xu
Summary: This paper presents a dynamic balance control method to improve the stability of quadruped robots by adjusting their foot positions and balancing the diagonal gait. The method can increase the stability of the robot, reduce disturbances during motion, and enable smooth movements.
APPLIED SCIENCES-BASEL
(2022)
Proceedings Paper
Computer Science, Artificial Intelligence
Hassan Alirezaei, Akihiko Nagakubo, Yasuo Kuniyoshi
3DUI : IEEE SYMPOSIUM ON 3D USER INTERFACES 2009, PROCEEDINGS
(2009)
Proceedings Paper
Engineering, Electrical & Electronic
Hassan Alirezaei, Akihiko Nagakubo, Yasuo Kuniyoshi
HUMANOIDS: 2007 7TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS
(2007)
Article
Automation & Control Systems
Y Kuniyoshi, Y Ohmura, K Terada, A Nagakubo, S Eitoku, T Yamamoto
ROBOTICS AND AUTONOMOUS SYSTEMS
(2004)
Article
Automation & Control Systems
GD Cheng, A Nagakubo, Y Kuniyoshi
ROBOTICS AND AUTONOMOUS SYSTEMS
(2001)
Article
Robotics
A Nagakubo, Y Kuniyoshi, G Cheng
