Development Of Quadruped Robot Research Articles

Optimal Tuning of PID Controller Using Grey Wolf Optimizer Algorithm for Quadruped Robot

The research and
 development of quadruped robots is grown steadily in during the last two
 decades. Quadruped robots present major advantages when compared with tracked
 and wheeled robots, because they allow locomotion in terrains inaccessible.
 However, the design controller is a major problem in quadruped robots because
 of they have complex structure. This paper presents the optimization of two PID
 controllers for a quadruped robot to ensure single footstep control in a
 desired trajectory using a bio-inspired meta-heuristic soft computing method
 which is name the Grey Wolf Optimizer (GWO) algorithm. The main objective of
 this paper is the optimization of KP, KI and KD
 gains with GWO algorithm in order to obtain more effective PID controllers for
 the quadruped robot leg. The importance to this work is that GWO is used first
 time as a diversity method for a quadruped robot to tune PID controller.
 Moreover, to investigate the performance of GWO, it is compared with widespread
 search algorithms. Firstly, the computer aided design (CAD) of the system are
 built using SolidWorks and exported to MATLAB/SimMechanics. After that, PID
 controllers are designed in MATLAB/Simulink and tuned gains using the newly
 introduced GWO technique. Also, to show the efficacy of GWO algorithm
 technique, the proposed technique has been compared by Genetic Algorithm (GA)
 and Particle Swarm Optimization (PSO) algorithm. The system is simulated in
 MATLAB and the simulation results are presented in graphical forms to
 investigate the controller’s performance.

Development of quadruped robot with locomotion rhythm generator using pulse-type hardware neural networks

This paper discussed about development of quadruped robot which could perform the quadruped animal-like locomotion. Locomotion rhythm of the quadruped robot was generated using the pulse-type hardware neural networks (P-HNN). Quadruped robot had mechanical components and electrical components. The mechanical components of the quadruped robot consist of the body frame, link mechanisms, 4 legs and 4 servo motors to realize the quadruped animal-like locomotion. The body frame, link mechanisms and 4 legs were made from aluminum base alloy. The electrical components of the quadruped robot consist of control board, battery and P-HNN. P-HNN generates the locomotion rhythms using synchronization phenomena such as biological neural networks. The control board actuates the servo motors according to the generated locomotion rhythms. As a result, constructed quadruped robot could perform the quadruped animal-like locomotion using the generated locomotion rhythm, which was shown in this paper.

2A2-Q10 球体外殻を持つ四足歩行ロボットの研究 : 回転移動を可能とする四足歩行ロボットの開発

2A2-Q10 球体外殻を持つ四足歩行ロボットの研究 : 回転移動を可能とする四足歩行ロボットの開発

Bionic Methods for Quadruped Robot Design and Control

Bionics has greatly improved the development of quadruped robot, in the paper we propose three bionic methods for the quadruped robot. These methods have been used for control method design, gait design and control architecture design. The quadruped robot control method has been divided into two parts, because the four-legged animals change their trot speed by adjustment of step length in swing phase and maintain their balance in support phase; control architecture is derived from the four-legged animals nerve system; gait of quadruped robot is based on event driven, and its trot gait is the same as German shepherd. Simulations and experiments are performed, which prove bionics design to be realizable for the quadruped robot.

A new approach for development of quadruped robot based on biological concepts

This paper proposes the design and development results of a new quadruped robot. The proposed new quadruped robot has a couple of advantages of flexible locomotion. The quadruped robot is designed and modeled based on a new concept that is the structure model with three segments of quadruped legs. New leg configuration with the simplified operation of four hip actuators is introduced. The posture of the new quadruped robot is more similar to the posture of dog than that of the previous quadruped robots. The objective of this paper is to develop a quadruped robot, which can walk and run in a trot gait with a simple PID controller. Numerical simulation and experimental results are shown to prove the locomotion performance of the proposed controller for the proposed quadruped robot.

ねじりコイルばねを用いた4足歩行ロボットの機械ハードウエア開発(歩行ロボット2)

ねじりコイルばねを用いた4足歩行ロボットの機械ハードウエア開発(歩行ロボット2)