Kenzo Nonami Ranjit Kumar Barai Addie Irawan Mohd Razali Daud. Hydraulically Actuated Hexapod Robots. Design, Implementation. and Control.

Transcription

1 Kenzo Nonami Ranjit Kumar Barai Addie Irawan Mohd Razali Daud Hydraulically Actuated Hexapod Robots Design, Implementation and Control 4^ Springer

2 1 Introduction Introduction Walking "Machines" or Walking "Robots"? "Biologically Inspired" Designs and Development of Walking Robots Classification of Walking Robots Hexapod Walking Robots: A Popular Walking Machine for Field Robotics Applications Walking Robot Terminology Challenges of Navigation and Locomotion Control of Hexapod Walking Robot for the Field Robotics Applications 16 References 17 2 Historical and Modern Perspective of Walking Robots Introduction Historical Perspective of Walking Robots Emergence of Artificial Legged Locomotion from Ancient Civilizations: Imagination, Ideas, and Implementations Evolution of Modern Walking Robots Modern and Future Perspective of Walking Robot Research 37 References 39 3 Design and Optimization of Hydraulically Actuated Hexapod Robot COMET-IV System Construction Conceptual Design Overall Mechanical System Design 46 ix

3 X 3.2 Building a Single-Leg Model Leg Mechanism Observations from the Evaluation Experiments Kinematic Analysis Forward Kinematics, Inverse Kinematics The Jacobian Manipulability Analysis of the Foot Mechanism Definition of the Required Cylinder Force and Torque Jacobian Analysis Analysis Results Definition of the Necessary Workspace Defining the Necessary Flow Rate and Walking Speed Optimization of the Leg Mechanism Optimization Optimization Process 71 Results Exterior View of the Completed COMET-IV 78 References 83 4 Kinematics, Navigation, and Path Planning of Hexapod Robot COMET-IV Kinematics (Inverse/Direct) and Force Sensing COMET-IV Center of Mass/Gravity Navigation and Path Planning Issues in Field Robotics Applications Movement Control Methods Terrain Adaptive Foot Trajectory Using Force Threshold-Based Method 97 References Position-Based Robust Locomotion Control of Hexapod Robot Introduction Locomotion Control Techniques Centralized Control Distributed Control Challenges of Position-Based Locomotion Control of Hydraulically Actuated Hexapod Robot Independent Joint Control-Based Locomotion Control of Hydraulically Actuated Hexapod Robot Ill 5.4 Robust Control Techniques for Locomotion Control of Hydraulically Actuated Hexapod Robot Technical Description of COMET-III and Its Model Identification 113

4 xi Model Reference Sliding Mode Control Preview Sliding Mode Control Robust Adaptive Fuzzy Logic Control-Based Intelligent Control for Locomotion Control of Hydraulically Actuated Hexapod Robot 128 References Force-Based Locomotion Control of Hexapod Robot Position-Based Force Control for Hydraulically Driven Hexapod Robot Walking on Rough Terrain Case Study: Hydraulically Driven Hexapod Robot Walking on Rough Terrain Issue Compliant Control Using Pull-Back Method and Logical Attitude-Level Terrain Changes Switching for ETT Module Experiment and Verifications Impedance Control for Hydraulically Driven Hexapod Robot Case Study: Hydraulically Driven Hexapod Robot Walking on Soft Terrain Issue Impedance Control Schemes for Hexapod Robot Experiment and Verification 162 References Impedance Control and Its Adaptive for Hexapod Robot Optimization of Impedance Control Using Virtual Forces from the Body's Moment of Inertia Experiment and Verification Optimization of Impedance Control by Self-Tuning Stiffness Using Logical Body's Attitude Control Experiment and Verification Impedance Forces Input Optimization Using Fuzzy Logic Control Experiment and Verification 189 References Teleoperated Locomotion Control of Hexapod Robot Movement Control Methods COMET-IV System Configuration OmniDirectional Gait Control Procedure Teleoperation Assistant System Ambient Environmental Image View of Robot Robot Animation Using 3D Geometric Models and Sensor Data Experiment 214

5 xjj 8.8 COMET-IV 3D Simulator Modeling Walking Trajectory Modeling Environment Modeling Control System Modeling D Geometric Modeling Modeling Verification Summary 233 References Fully Autonomous Locomotion Control of Hexapod Robot with LRF Advantages of Hexapod Robot and Typical Quadruped Robot Environment Modeling Laser Range Finder Grid-Based Environment Modeling Path Planning Locomotion Strategies in Stochastic Environment Crossing Over and Ascending an Obstacle or a Step Descending a Cliff Experimental Results Crossing Over an Obstacle: Results and Discussion Crossing Over an Obstacle Longer than 0.6 m: Results and Discussion Ascending and Descending a Cliff: Results and Discussion Summary 256 References Challenges and New Frontiers of Hydraulically Actuated Hexapod Robots Introduction Mine Detection and Removal Rescue and Disaster Management Applications High-Risk Operations Construction Application Cargo Application Underwater Operation Forest-Cutting Machine A Test Bed for Study and Research of Biological Walking Other Possible Applications of Hydraulically Actuated Hexapod Robot 268 References 269 Index 271