Kenzo Nonami Ranjit Kumar Barai Addie Irawan Mohd Razali Daud Hydraulically Actuated Hexapod Robots Design, Implementation and Control 4^ Springer
1 Introduction 1 1.1 Introduction 1 1.2 Walking "Machines" or Walking "Robots"? 4 1.3 "Biologically Inspired" Designs and Development of Walking Robots 5 1.4 Classification of Walking Robots 6 1.5 Hexapod Walking Robots: A Popular Walking Machine for Field Robotics Applications 8 1.6 Walking Robot Terminology 15 1.7 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 19 2.1 Introduction 19 2.2 Historical Perspective of Walking Robots 21 2.2.1 Emergence of Artificial Legged Locomotion from Ancient Civilizations: Imagination, Ideas, and Implementations 21 2.2.2 Evolution of Modern Walking Robots 27 2.3 Modern and Future Perspective of Walking Robot Research 37 References 39 3 Design and Optimization of Hydraulically Actuated Hexapod Robot COMET-IV 41 3.1 System Construction 42 3.1.1 Conceptual Design 42 3.1.2 Overall Mechanical System Design 46 ix
X 3.2 Building a Single-Leg Model 53 3.2.1 Leg Mechanism 53 3.2.2 Observations from the Evaluation Experiments 55 3.3 Kinematic Analysis 55 3.3.1 Forward Kinematics, Inverse Kinematics 55 3.3.2 The Jacobian 56 3.3.3 Manipulability 61 3.4 Analysis of the Foot Mechanism 64 3.4.1 Definition of the Required Cylinder Force and Torque 64 3.4.2 Jacobian Analysis 65 3.4.3 Analysis Results 65 3.4.4 Definition of the Necessary Workspace 69 3.4.5 Defining the Necessary Flow Rate and Walking Speed 70 3.5 Optimization of the Leg Mechanism 71 3.5.1 Optimization 3.5.2 Optimization Process 71 Results 74 3.6 Exterior View of the Completed COMET-IV 78 References 83 4 Kinematics, Navigation, and Path Planning of Hexapod Robot 85 4.1 COMET-IV Kinematics (Inverse/Direct) and Force Sensing 85 4.2 COMET-IV Center of Mass/Gravity 89 4.3 Navigation and Path Planning Issues in Field Robotics Applications 91 4.4 Movement Control Methods 93 4.5 Terrain Adaptive Foot Trajectory Using Force Threshold-Based Method 97 References 103 5 Position-Based Robust Locomotion Control of Hexapod Robot 105 5.1 Introduction 105 5.1.1 Locomotion Control Techniques 106 5.1.2 Centralized Control 107 5.1.3 Distributed Control 108 5.2 Challenges of Position-Based Locomotion Control of Hydraulically Actuated Hexapod Robot 110 5.3 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 112 5.4.1 Technical Description of COMET-III and Its Model Identification 113
xi 5.4.2 Model Reference Sliding Mode Control 117 5.4.3 Preview Sliding Mode Control 122 5.4.4 Robust Adaptive Fuzzy Logic Control-Based Intelligent Control for Locomotion Control of Hydraulically Actuated Hexapod Robot 128 References 138 6 Force-Based Locomotion Control of Hexapod Robot 141 6.1 Position-Based Force Control for Hydraulically Driven Hexapod Robot Walking on Rough Terrain 141 6.1.1 Case Study: Hydraulically Driven Hexapod Robot Walking on Rough Terrain Issue 141 6.1.2 Compliant Control Using Pull-Back Method and Logical Attitude-Level Terrain Changes Switching for ETT Module 145 6.1.3 Experiment and Verifications 152 6.2 Impedance Control for Hydraulically Driven Hexapod Robot 156 6.2.1 Case Study: Hydraulically Driven Hexapod Robot Walking on Soft Terrain Issue 157 6.2.2 Impedance Control Schemes for Hexapod Robot 159 6.2.3 Experiment and Verification 162 References 166 7 Impedance Control and Its Adaptive for Hexapod Robot 169 7.1 Optimization of Impedance Control Using Virtual Forces from the Body's Moment of Inertia 169 7.1.1 Experiment and Verification 173 7.2 Optimization of Impedance Control by Self-Tuning Stiffness Using Logical Body's Attitude Control 179 7.2.1 Experiment and Verification 181 7.3 Impedance Forces Input Optimization Using Fuzzy Logic Control 185 7.3.1 Experiment and Verification 189 References 196 8 Teleoperated Locomotion Control of Hexapod Robot 199 8.1 Movement Control Methods 200 8.2 COMET-IV System Configuration 201 8.3 OmniDirectional Gait Control Procedure 203 8.4 Teleoperation Assistant System 205 8.5 Ambient Environmental Image View of Robot 208 8.6 Robot Animation Using 3D Geometric Models and Sensor Data 212 8.7 Experiment 214
xjj 8.8 COMET-IV 3D Simulator Modeling 216 8.8.1 Walking Trajectory Modeling 217 8.8.2 Environment Modeling 221 8.8.3 Control System Modeling 223 8.8.4 3D Geometric Modeling 226 8.9 Modeling Verification 229 8.10 Summary 233 References 233 9 Fully Autonomous Locomotion Control of Hexapod Robot with LRF 237 9.1 Advantages of Hexapod Robot and Typical Quadruped Robot 237 9.2 Environment Modeling 239 9.2.1 Laser Range Finder 240 9.2.2 Grid-Based Environment Modeling 241 9.2.3 Path Planning 243 9.3 Locomotion Strategies in Stochastic Environment 244 9.3.1 Crossing Over and Ascending an Obstacle or a Step 244 9.3.2 Descending a Cliff 246 9.4 Experimental Results 248 9.4.1 Crossing Over an Obstacle: Results and Discussion 248 9.4.2 Crossing Over an Obstacle Longer than 0.6 m: Results and Discussion 251 9.4.3 Ascending and Descending a Cliff: Results and Discussion 253 9.5 Summary 256 References 260 10 Challenges and New Frontiers of Hydraulically Actuated Hexapod Robots 263 10.1 Introduction 263 10.2 Mine Detection and Removal 265 10.3 Rescue and Disaster Management Applications 266 10.4 High-Risk Operations 266 10.5 Construction Application 267 10.6 Cargo Application 267 10.7 Underwater Operation 267 10.8 Forest-Cutting Machine 268 10.9 A Test Bed for Study and Research of Biological Walking 268 10.10 Other Possible Applications of Hydraulically Actuated Hexapod Robot 268 References 269 Index 271