Study on the morphological parameters of quadruped robot designs considering ditch traversability

Legged robots have potentials of superior mobility than traditional wheeled and tracked vehicles on rugged terrains in extreme environment. To understand the best utilization of this exceptional locomotion capability, a plenty of legged robots are developed in recent decades. One of the most fundamental issue is how to optimize the morphological parameters such as limb length and joint configuration towards the best task performance. This paper presents an in-depth study on the relationship between the morphological parameters of quadruped robots and the capability of obstacle-negotiation in the ditch crossing scenario. Simulations are studied based on static stability and critical postures, and the results are analysed and discussed.

[1]  Darwin G. Caldwell,et al.  Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max , 2017, IEEE/ASME Transactions on Mechatronics.

[2]  E. Papadopoulos,et al.  Parametric analysis and design guidelines for a quadruped bounding robot , 2007, 2007 Mediterranean Conference on Control & Automation.

[3]  David Wettergreen,et al.  Dante II: Technical Description, Results, and Lessons Learned , 1999, Int. J. Robotics Res..

[4]  Roland Siegwart,et al.  Starleth: A compliant quadrupedal robot for fast, efficient, and versatile locomotion , 2012 .

[5]  Pablo González de Santos,et al.  On the Biomimetic Design of Agile-Robot Legs , 2011, Sensors.

[6]  Kenneth J. Waldron,et al.  Configuration Design of the Adaptive Suspension Vehicle , 1984 .

[7]  Pei-Chun Lin,et al.  A Bio-Inspired Hopping Kangaroo Robot with an Active Tail , 2014 .

[8]  Junmin Cheng,et al.  Ditch crossing control for quadruped walking robot , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[9]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[10]  J. Machado,et al.  An Overview of Legged Robots , 2006 .

[11]  Ferdinando Cannella,et al.  Design of HyQ – a hydraulically and electrically actuated quadruped robot , 2011 .

[12]  Bin Li,et al.  Design and simulation for a hydraulic actuated quadruped robot , 2012 .

[13]  Claudio Semini.  HyQ - Design and Development of a Hydraulically Actuated Quadruped Robot , 2010 .

[14]  Stefan Schaal,et al.  Fast, robust quadruped locomotion over challenging terrain , 2010, 2010 IEEE International Conference on Robotics and Automation.

[15]  Shigeo Hirose,et al.  TITAN VII: quadruped walking and manipulating robot on a steep slope , 1997, Proceedings of International Conference on Robotics and Automation.

[16]  Gen Endo,et al.  Quadruped walking robots at Tokyo Institute of Technology , 2009, IEEE Robotics & Automation Magazine.

[17]  Yibin Li,et al.  Design for Several Hydraulic Parameters of a Quadruped Robot , 2014 .

[18]  Zhifeng Cheng,et al.  A biological inspired quadruped robot: structure and control , 2005, 2005 IEEE International Conference on Robotics and Biomimetics - ROBIO.

[19]  Manfred Hiller,et al.  Transfer of biological principles into the construction of quadruped walking machines , 2001, Proceedings of the Second International Workshop on Robot Motion and Control. RoMoCo'01 (IEEE Cat. No.01EX535).