Optimization Design of Buffering and Walking Foot for Planetary Legged Robots

Chu Zhang; Liang Ding; Huaiguang Yang; Haibo Gao; Liyuan Ge; Zongquan Deng

doi:10.1007/978-981-19-9398-5_22

Optimization Design of Buffering and Walking Foot for Planetary Legged Robots

Chu Zhang
, Liang Ding
, Huaiguang Yang^*
, Haibo Gao
, Liyuan Ge
, Zongquan Deng

^*Corresponding author for this work

School of Mechatronics Engineering, Harbin Institute of Technology
Goertek Inc.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

The legged robot has better adaptability to terrain in the process of moving and has been considered for future planetary exploration missions. As the part of direct contact with planet soil, the foot will directly affect movement performance and control effect of the legged robot. In this paper, the advantages and disadvantages of various foot configurations of ground legged robot are analyzed, and a coronal foot configuration is proposed. Based on the foot-terrain interaction mechanics model, the size of the coronal foot is optimized with the goal of anti-sinkage, anti-slip and light weight. Then, a high-performance coronal foot with two-stage buffering and touch sensing functions is designed. And the finite element analysis is carried out to verify the reliability of strength and stiffness of the foot in the ultimate working conditions. Finally, the anti-sinkage and tangential traction performance of the coronal foot is verified by quasi-static loading, loading with impact and tangential slip experiments.

Original language	English
Title of host publication	Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022
Editors	Xinjun Liu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	393-408
Number of pages	16
ISBN (Print)	9789811993978
DOIs	https://doi.org/10.1007/978-981-19-9398-5_22
State	Published - 2023
Externally published	Yes
Event	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 - Yantai, China Duration: 30 Jul 2022 → 1 Aug 2022

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022
Country/Territory	China
City	Yantai
Period	30/07/22 → 1/08/22

Keywords

Coronal foot
Optimization design
Performance verification
Planetary legged robots

Access to Document

10.1007/978-981-19-9398-5_22

Cite this

Zhang, C., Ding, L., Yang, H., Gao, H., Ge, L., & Deng, Z. (2023). Optimization Design of Buffering and Walking Foot for Planetary Legged Robots. In X. Liu (Ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022 (pp. 393-408). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-9398-5_22

@inproceedings{4e51e394dec0498da6d00089724dcb34,

title = "Optimization Design of Buffering and Walking Foot for Planetary Legged Robots",

abstract = "The legged robot has better adaptability to terrain in the process of moving and has been considered for future planetary exploration missions. As the part of direct contact with planet soil, the foot will directly affect movement performance and control effect of the legged robot. In this paper, the advantages and disadvantages of various foot configurations of ground legged robot are analyzed, and a coronal foot configuration is proposed. Based on the foot-terrain interaction mechanics model, the size of the coronal foot is optimized with the goal of anti-sinkage, anti-slip and light weight. Then, a high-performance coronal foot with two-stage buffering and touch sensing functions is designed. And the finite element analysis is carried out to verify the reliability of strength and stiffness of the foot in the ultimate working conditions. Finally, the anti-sinkage and tangential traction performance of the coronal foot is verified by quasi-static loading, loading with impact and tangential slip experiments.",

keywords = "Coronal foot, Optimization design, Performance verification, Planetary legged robots",

author = "Chu Zhang and Liang Ding and Huaiguang Yang and Haibo Gao and Liyuan Ge and Zongquan Deng",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 ; Conference date: 30-07-2022 Through 01-08-2022",

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doi = "10.1007/978-981-19-9398-5\_22",

language = "英语",

isbn = "9789811993978",

series = "Lecture Notes in Mechanical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

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address = "德国",

}

Zhang, C, Ding, L , Yang, H, Gao, H, Ge, L & Deng, Z 2023, Optimization Design of Buffering and Walking Foot for Planetary Legged Robots. in X Liu (ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 393-408, 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022, Yantai, China, 30/07/22. https://doi.org/10.1007/978-981-19-9398-5_22

Optimization Design of Buffering and Walking Foot for Planetary Legged Robots. / Zhang, Chu; Ding, Liang ; Yang, Huaiguang et al.
Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. ed. / Xinjun Liu. Springer Science and Business Media Deutschland GmbH, 2023. p. 393-408 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Optimization Design of Buffering and Walking Foot for Planetary Legged Robots

AU - Zhang, Chu

AU - Ding, Liang

AU - Yang, Huaiguang

AU - Gao, Haibo

AU - Ge, Liyuan

AU - Deng, Zongquan

PY - 2023

Y1 - 2023

N2 - The legged robot has better adaptability to terrain in the process of moving and has been considered for future planetary exploration missions. As the part of direct contact with planet soil, the foot will directly affect movement performance and control effect of the legged robot. In this paper, the advantages and disadvantages of various foot configurations of ground legged robot are analyzed, and a coronal foot configuration is proposed. Based on the foot-terrain interaction mechanics model, the size of the coronal foot is optimized with the goal of anti-sinkage, anti-slip and light weight. Then, a high-performance coronal foot with two-stage buffering and touch sensing functions is designed. And the finite element analysis is carried out to verify the reliability of strength and stiffness of the foot in the ultimate working conditions. Finally, the anti-sinkage and tangential traction performance of the coronal foot is verified by quasi-static loading, loading with impact and tangential slip experiments.

AB - The legged robot has better adaptability to terrain in the process of moving and has been considered for future planetary exploration missions. As the part of direct contact with planet soil, the foot will directly affect movement performance and control effect of the legged robot. In this paper, the advantages and disadvantages of various foot configurations of ground legged robot are analyzed, and a coronal foot configuration is proposed. Based on the foot-terrain interaction mechanics model, the size of the coronal foot is optimized with the goal of anti-sinkage, anti-slip and light weight. Then, a high-performance coronal foot with two-stage buffering and touch sensing functions is designed. And the finite element analysis is carried out to verify the reliability of strength and stiffness of the foot in the ultimate working conditions. Finally, the anti-sinkage and tangential traction performance of the coronal foot is verified by quasi-static loading, loading with impact and tangential slip experiments.

KW - Coronal foot

KW - Optimization design

KW - Performance verification

KW - Planetary legged robots

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DO - 10.1007/978-981-19-9398-5_22

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AN - SCOPUS:85163948377

SN - 9789811993978

T3 - Lecture Notes in Mechanical Engineering

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BT - Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022

A2 - Liu, Xinjun

PB - Springer Science and Business Media Deutschland GmbH

T2 - 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

Y2 - 30 July 2022 through 1 August 2022

ER -

Zhang C, Ding L , Yang H, Gao H, Ge L, Deng Z. Optimization Design of Buffering and Walking Foot for Planetary Legged Robots. In Liu X, editor, Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 393-408. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-981-19-9398-5_22

Optimization Design of Buffering and Walking Foot for Planetary Legged Robots

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Keywords

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