Hexapod Adaptive Gait Inspired by Human Behavior for Six-Legged Robot Without Force Sensor
Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in t...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Xu, Yilin [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2017 |
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| Schlagwörter: |
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| Anmerkung: |
© Springer Science+Business Media Dordrecht 2017 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of intelligent & robotic systems - Springer Netherlands, 1988, 88(2017), 1 vom: 02. Apr., Seite 19-35 |
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| Übergeordnetes Werk: |
volume:88 ; year:2017 ; number:1 ; day:02 ; month:04 ; pages:19-35 |
| Links: |
|---|
| DOI / URN: |
10.1007/s10846-017-0532-7 |
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| Katalog-ID: |
OLC2057183920 |
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| 520 | |a Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. | ||
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10.1007/s10846-017-0532-7 doi (DE-627)OLC2057183920 (DE-He213)s10846-017-0532-7-p DE-627 ger DE-627 rakwb eng 004 VZ Xu, Yilin verfasserin aut Hexapod Adaptive Gait Inspired by Human Behavior for Six-Legged Robot Without Force Sensor 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2017 Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. Hexapod Adaptive gait Blind walking Bio-inspired Gao, Feng aut Pan, Yang aut Chai, Xun aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 88(2017), 1 vom: 02. Apr., Seite 19-35 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:88 year:2017 number:1 day:02 month:04 pages:19-35 https://doi.org/10.1007/s10846-017-0532-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 88 2017 1 02 04 19-35 |
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10.1007/s10846-017-0532-7 doi (DE-627)OLC2057183920 (DE-He213)s10846-017-0532-7-p DE-627 ger DE-627 rakwb eng 004 VZ Xu, Yilin verfasserin aut Hexapod Adaptive Gait Inspired by Human Behavior for Six-Legged Robot Without Force Sensor 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2017 Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. Hexapod Adaptive gait Blind walking Bio-inspired Gao, Feng aut Pan, Yang aut Chai, Xun aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 88(2017), 1 vom: 02. Apr., Seite 19-35 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:88 year:2017 number:1 day:02 month:04 pages:19-35 https://doi.org/10.1007/s10846-017-0532-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 88 2017 1 02 04 19-35 |
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10.1007/s10846-017-0532-7 doi (DE-627)OLC2057183920 (DE-He213)s10846-017-0532-7-p DE-627 ger DE-627 rakwb eng 004 VZ Xu, Yilin verfasserin aut Hexapod Adaptive Gait Inspired by Human Behavior for Six-Legged Robot Without Force Sensor 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2017 Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. Hexapod Adaptive gait Blind walking Bio-inspired Gao, Feng aut Pan, Yang aut Chai, Xun aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 88(2017), 1 vom: 02. Apr., Seite 19-35 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:88 year:2017 number:1 day:02 month:04 pages:19-35 https://doi.org/10.1007/s10846-017-0532-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 88 2017 1 02 04 19-35 |
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10.1007/s10846-017-0532-7 doi (DE-627)OLC2057183920 (DE-He213)s10846-017-0532-7-p DE-627 ger DE-627 rakwb eng 004 VZ Xu, Yilin verfasserin aut Hexapod Adaptive Gait Inspired by Human Behavior for Six-Legged Robot Without Force Sensor 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2017 Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. Hexapod Adaptive gait Blind walking Bio-inspired Gao, Feng aut Pan, Yang aut Chai, Xun aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 88(2017), 1 vom: 02. Apr., Seite 19-35 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:88 year:2017 number:1 day:02 month:04 pages:19-35 https://doi.org/10.1007/s10846-017-0532-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 88 2017 1 02 04 19-35 |
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10.1007/s10846-017-0532-7 doi (DE-627)OLC2057183920 (DE-He213)s10846-017-0532-7-p DE-627 ger DE-627 rakwb eng 004 VZ Xu, Yilin verfasserin aut Hexapod Adaptive Gait Inspired by Human Behavior for Six-Legged Robot Without Force Sensor 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2017 Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. Hexapod Adaptive gait Blind walking Bio-inspired Gao, Feng aut Pan, Yang aut Chai, Xun aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 88(2017), 1 vom: 02. Apr., Seite 19-35 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:88 year:2017 number:1 day:02 month:04 pages:19-35 https://doi.org/10.1007/s10846-017-0532-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 AR 88 2017 1 02 04 19-35 |
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Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. © Springer Science+Business Media Dordrecht 2017 |
| abstractGer |
Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. © Springer Science+Business Media Dordrecht 2017 |
| abstract_unstemmed |
Abstract Legged robots are usually installed with force sensors in order to negotiate with the uneven ground. To eliminate the risk of force sensor failure, adaptive gaits integrating indirect force-estimation are of great importance. Robot Octopus III is a robot designed for carrying a payload in the harsh environment. There is no electric device installed on the lower limb of the robot. The indirect force-estimation method, which is based on its spatial parallel mechanism leg, can estimate the external force exerted on the foot tip. In this paper, an adaptive gait is designed after observing human actions. Experiments are carried out to observe how a human walks through the uneven ground when his/her eyes are covered. A static tripod gait mimics the human behavior during the blind walking. When the foot collides with the obstacle, the robot will adjust the foot’s height and try to overcome the obstacle. Just like human blind walking, the robot foot tries different locations before it steps on somewhere. The gait also detects if the robot is facing a ditch too deep to step or an obstacle is too high to step on. The gait is implemented in the real-time control system. Experiments are carried out to validate the proposed gait. The robot walked through the uneven ground with maximum obstacle height of 0.2m successfully. The proposed gait enables the robot without foot tip force sensors to walk through the field with obstacles. © Springer Science+Business Media Dordrecht 2017 |
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Hexapod Adaptive Gait Inspired by Human Behavior for Six-Legged Robot Without Force Sensor |
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https://doi.org/10.1007/s10846-017-0532-7 |
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Gao, Feng Pan, Yang Chai, Xun |
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