Abstract
In legged robots, there are changes in the sequence of legs and the foothold positions depending on the speed. The walking sequence, known as gait, is important for the robot's ability to move in a stable and less energy-consuming way. In this study, the previously developed ODE-based gait control algorithms for a six-legged mobile robot and the standard walking gaits were compared in terms of stability and repeatability. In the ODE-based gait control algorithm, dynamic effects are not neglected, as in standard gait patterns. Owing to this, the ODE-based gait controller has the ability to constantly balance itself against external disturbances. In order to test this feature of the control algorithm, the same comparison operations were repeated for a fixed motion scenario on a rotatable inclined floor. In this study firstly layered control architecture has explained which developed for ODE-based controllers. Thereafter, servo motor controllers, ODE based stability and ODE based gait controllers used in robot are introduced respectively. After in order to make the performance of these controllers comparable to the methods in the literature, standard gait patterns have been introduced. Following this section, the performance criteria to be used in the comparison procedures and the reasons for their selection are given. Later on, the rotatable inclined floor, which was builded in order to demonstrate the performance of the robot and controller used in the test system better, has explained. Afterwards, an experimental scenario in which the slopes are changed periodically over time was determined, with the aim of using this scenario in comparison experiments in which performed on the rotatable inclined floor. In the comparison results section, the experimental performance results shown by ODE-based gait controller and standard walking arrangements are given in detail through this test system and comparison criteria. As a result of the study, a 65 percent improvement was observed in stability of robot, both flat and inclined floor according to standard walking gaits.
Highlights
Mobile robots are systems that can perform the tasks defined in a space without being connected to any place
Some test results will be given in order to show the performance improvement of Open Dynamics Engine (ODE) based gait controller
It varies according to the selected walking gait, the new gait patterns produced with the ODE-based gait controller improved the euclidean error 65% averagely compared to standard gait patterns
Summary
Mobile robots are systems that can perform the tasks defined in a space without being connected to any place. In addition to these basic gait control techniques, researchers working on gait control in leg mobile robots have often sought to identify optimal gait patterns to improve energy efficiency and balance [5-8] In all of these studies, dynamic effects of the robot are neglected such as inertia forces that may occur during the movement. In the legged mobile robot applications, there are examples that try to measure the force components at the contact points by placing the sensors at the leg's endpoints, instead of using a mathematical technique directly [9]. Since these sensors are very expensive and difficult to apply, they create serious problems in terms of cost. At the end of the study, the positive improvement achieved by ODE-based stability and gait controllers compared to standard gaits is revealed as a quantitative measure
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