TY - GEN
T1 - The design, control and experiment of a high payload-weight hexapod robot
AU - Huang, Zhixiong
AU - Xu, Wenfu
AU - Wang, Zhiying
AU - Mu, Zonggao
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - Compared with other types of legged robot, a hexapod robot is much more flexible for non-structured environment. In this paper, we developed a hexapod robot with high payload-weight ratio. Inspired by an ant, which can carry things much heavier than itself, we defined a design criterion for a hexapod robot, considering the maximal payload mass and its own mass. We called it payload-weight ratio, i.e. the ratio of the maximal payload mass and the robot mass. Based on the definition above, we derived the objective function to be optimized from the view of dynamic behaviors. Given the constraint conditions, including the drive torque of each joint, and the workspace of each leg, the kinematic structure and parameters were optimized. Then, a robot prototype was manufactured using the optimized results. The control system, including an embedded controller and a human-robot interaction system based on the ROS (Robot Operating System) was also developed. At last, the experiments of typical cases were conducted to verified the design and control of the high payload-weight hexapod robot.
AB - Compared with other types of legged robot, a hexapod robot is much more flexible for non-structured environment. In this paper, we developed a hexapod robot with high payload-weight ratio. Inspired by an ant, which can carry things much heavier than itself, we defined a design criterion for a hexapod robot, considering the maximal payload mass and its own mass. We called it payload-weight ratio, i.e. the ratio of the maximal payload mass and the robot mass. Based on the definition above, we derived the objective function to be optimized from the view of dynamic behaviors. Given the constraint conditions, including the drive torque of each joint, and the workspace of each leg, the kinematic structure and parameters were optimized. Then, a robot prototype was manufactured using the optimized results. The control system, including an embedded controller and a human-robot interaction system based on the ROS (Robot Operating System) was also developed. At last, the experiments of typical cases were conducted to verified the design and control of the high payload-weight hexapod robot.
UR - https://www.scopus.com/pages/publications/84983171461
U2 - 10.1109/ROBIO.2014.7090704
DO - 10.1109/ROBIO.2014.7090704
M3 - 会议稿件
AN - SCOPUS:84983171461
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 2431
EP - 2436
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -