Abstract
The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information that can help the robot understand the unstructured terrain that it interacts with. This study introduces a complicated leg force sensing system for a hexapod robot that is the same for all six legs. First, the layout and configuration of sensing system are designed according to the structure and sizes of legs. Second, the joint toque sensors, 3-DOF foot-end force sensor and force information processing module are designed, and the force sensor performance parameters are tested by simulations and experiments. Moreover, a force sensing system is implemented within the robot control architecture. Finally, the experimental evaluation of the leg force sensor system on the hexapod robot is discussed and the performance of the leg force sensor system is verified.
Highlights
Tiger beetles (Cicindelinae, Figure 1a) have the highest speed of any animal relative to their own body size on land
The robot type of decussation beam elastomer. This structure type was adopted by the popular Scheinman wrist design here is suitable for and can adapt to unstructured terrains and improve the stability of complex force sensor [15]
The hexapod robot has quasi-static motion characteristic, which means the basic condition for maintaining stable walking is that at least three non-adjacent legs are in contact with the ground and in supporting phase [21]
Summary
Tiger beetles (Cicindelinae, Figure 1a) have the highest speed of any animal relative to their own body size on land. The strain gauge-type multidimensional force sensor technology provides the basic conditions for mild rugged terrain requires that the leg be able to perceptive the collision between foot-end and the design of the leg force sensing system of a hexapod robot [11]. The robot type of decussation beam elastomer This structure type was adopted by the popular Scheinman wrist design here is suitable for and can adapt to unstructured terrains and improve the stability of complex force sensor [15]. Given the characteristics of autonomous walking motion control over small-sized hexapod robots on unstructured terrains, the leg force sensor should: (a) conform to the characteristics of the leg structure; (b) have a small volume; and (c) be able to suitably measure the interaction force between the legs and complex terrains. The comprehensive performance and practical application of the leg force sensing system in the climbing and walking experiments of the hexapod robots on unstructured, rugged terrain are assessed and tested
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