Optimized non-reciprocating tripod gait for a hexapod robot with epicyclic-gear-based eccentric paddle mechanism

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI:10.1109/ROBIO.2015.7418828

Jun Zou, Huayan Pu, Yayi Shen, Yi Sun, Wenchuan Jia, Shugen Ma, Jun Luo, Shaorong Xie

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引用次数: 1

Abstract

A novel eccentric paddle mechanism based on the epicyclic mechanism (ePaddle-EGM) has been proposed to enhance the mobility of amphibious robot for multi-environments tasks with diverse locomotion gaits, including a novel non-reciprocating legged gait. In this study, an optimized non-reciprocating planning method by planning the posture angle of the supporting paddle is focused to improve energetic efficiency of this gait. Relationship between the posture angle of the supporting paddle and actuation forces on the paddle is analyzed in the state of equilibrium. Standing on the ground vertically is found to be an optimal posture for the supporting paddle to achieve minimum quadratic sum of the actuation forces. The planning method that considers the optimal posture angle of the paddle and the stride of the gait is established and verified in simulations. Calculated specific resistance confirms that the proposed method can improve the energetic efficiency of the non-reciprocating legged gait.

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行星齿轮偏心桨机构六足机器人非往复三脚架步态优化

提出了一种基于表环机构的新型偏心桨机构(ePaddle-EGM)，以提高两栖机器人在多环境任务下的运动步态，包括一种新型的非往复腿步态。本研究通过规划支撑桨的姿态角度，优化非往复规划方法，以提高该步态的能量效率。分析了平衡状态下支撑桨叶姿态角与桨叶作动力之间的关系。发现支撑桨在地面上垂直站立是实现驱动力二次和最小的最优姿态。建立了考虑最佳桨位角和步态步幅的规划方法，并通过仿真验证了该方法的有效性。比阻力计算结果表明，该方法可以提高非往复腿步态的能量效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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