Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot

Chen Chen; Wei Guo; Penglong Zheng; Fusheng Zha; Xin Wang; Zhenyu Jiang

doi:10.1109/ICARM.2019.8833967

Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot

Chen Chen
, Wei Guo
, Penglong Zheng
, Fusheng Zha^*
, Xin Wang
, Zhenyu Jiang

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
Shenzhen Academy of Aerospace Technology

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

8 Scopus citations

Abstract

In order to get stable walking motions of a large-scale hexapod robot, a control scheme based on foot-force distribution method is proposed in this paper. The foot-force distribution method in the control scheme is designed simply to achieve stable body postures and high computation efficiency without complex dynamics analyses. Desired foot forces to ensure system equilibrium of the hexapod robot can be obtained through this method and with the application of an impedance control model, the desired foot forces can be tracked through foot position compensations. Simulation experiments of both flat and uneven terrains walking are carried out and results show significant advantages of the control scheme in regulating robot postures compared with common control scheme without footforce distribution.

Original language	English
Title of host publication	2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	763-768
Number of pages	6
ISBN (Electronic)	9781728100647
DOIs	https://doi.org/10.1109/ICARM.2019.8833967
State	Published - Jul 2019
Event	4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan Duration: 3 Jul 2019 → 5 Jul 2019

Publication series

Name	2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

Conference

Conference	4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Country/Territory	Japan
City	Osaka
Period	3/07/19 → 5/07/19

Access to Document

10.1109/ICARM.2019.8833967

Cite this

Chen, C., Guo, W., Zheng, P., Zha, F., Wang, X., & Jiang, Z. (2019). Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot. In 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 (pp. 763-768). Article 8833967 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2019.8833967

Chen, Chen ; Guo, Wei ; Zheng, Penglong et al. / Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot. 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 763-768 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

@inproceedings{140192155b2c4d76a6472b0e076b190a,

title = "Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot",

abstract = "In order to get stable walking motions of a large-scale hexapod robot, a control scheme based on foot-force distribution method is proposed in this paper. The foot-force distribution method in the control scheme is designed simply to achieve stable body postures and high computation efficiency without complex dynamics analyses. Desired foot forces to ensure system equilibrium of the hexapod robot can be obtained through this method and with the application of an impedance control model, the desired foot forces can be tracked through foot position compensations. Simulation experiments of both flat and uneven terrains walking are carried out and results show significant advantages of the control scheme in regulating robot postures compared with common control scheme without footforce distribution.",

author = "Chen Chen and Wei Guo and Penglong Zheng and Fusheng Zha and Xin Wang and Zhenyu Jiang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

year = "2019",

month = jul,

doi = "10.1109/ICARM.2019.8833967",

language = "英语",

series = "2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "763--768",

booktitle = "2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019",

address = "美国",

}

Chen, C, Guo, W, Zheng, P, Zha, F, Wang, X & Jiang, Z 2019, Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot. in 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019., 8833967, 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Institute of Electrical and Electronics Engineers Inc., pp. 763-768, 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Osaka, Japan, 3/07/19. https://doi.org/10.1109/ICARM.2019.8833967

Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot. / Chen, Chen; Guo, Wei; Zheng, Penglong et al.
2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 763-768 8833967 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

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

TY - GEN

T1 - Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot

AU - Chen, Chen

AU - Guo, Wei

AU - Zheng, Penglong

AU - Zha, Fusheng

AU - Wang, Xin

AU - Jiang, Zhenyu

PY - 2019/7

Y1 - 2019/7

N2 - In order to get stable walking motions of a large-scale hexapod robot, a control scheme based on foot-force distribution method is proposed in this paper. The foot-force distribution method in the control scheme is designed simply to achieve stable body postures and high computation efficiency without complex dynamics analyses. Desired foot forces to ensure system equilibrium of the hexapod robot can be obtained through this method and with the application of an impedance control model, the desired foot forces can be tracked through foot position compensations. Simulation experiments of both flat and uneven terrains walking are carried out and results show significant advantages of the control scheme in regulating robot postures compared with common control scheme without footforce distribution.

AB - In order to get stable walking motions of a large-scale hexapod robot, a control scheme based on foot-force distribution method is proposed in this paper. The foot-force distribution method in the control scheme is designed simply to achieve stable body postures and high computation efficiency without complex dynamics analyses. Desired foot forces to ensure system equilibrium of the hexapod robot can be obtained through this method and with the application of an impedance control model, the desired foot forces can be tracked through foot position compensations. Simulation experiments of both flat and uneven terrains walking are carried out and results show significant advantages of the control scheme in regulating robot postures compared with common control scheme without footforce distribution.

UR - https://www.scopus.com/pages/publications/85073222400

U2 - 10.1109/ICARM.2019.8833967

DO - 10.1109/ICARM.2019.8833967

M3 - 会议稿件

AN - SCOPUS:85073222400

T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

SP - 763

EP - 768

BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

Y2 - 3 July 2019 through 5 July 2019

ER -

Chen C, Guo W, Zheng P, Zha F, Wang X, Jiang Z. Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot. In 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 763-768. 8833967. (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). doi: 10.1109/ICARM.2019.8833967

Stable motion control scheme based on foot-force distribution for a large-scale hexapod robot

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this