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RISS 인기검색어
- 검색키워드
- 저자 : Xuewen Rong (검색결과 4 건)
- 무료
- 기관 내 무료
- 유료
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Design and simulation for a hydraulic actuated quadruped robot
Xuewen Rong,Yibin Li,Jiuhong Ruan,Bin Li 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.4
This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line,which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders.
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A free gait generation method for quadruped robots over rough terrains containing forbidden areas
Shuaishuai Zhang,Xuewen Rong,Yi-bin Li,Bin Li 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.9
Planning a robust gait is one of the most basic aspects to enable a quadruped robot to walk stably on rough terrains. In this paper, wefocus on the scenario where a quadruped robot travelling on the rough terrains containing forbidden areas, and a free gait generationmethod for quadruped robot is proposed. Under the assumption that a set of the positions which can be selected as the foothold is given,the quadruped robot can select the swing foot sequence and choose the best foothold for the swing foot automatically. A body sway motionis included into the motion planning of the free gait to enlarge the stability margin of the robot. With the aid of the sway motion, thestability margin of the robot is no less than the minimum stability margin during the whole walking process. In order to guarantee thelocomotion continuity of the quadruped robot, a COG trajectory which has continuous velocity and acceleration profiles is automaticallygenerated. Moreover, the locomotion speed of the robot is improved by ensuring the kinematic margin of the selected swing foot to bezero just before this foot lift-off the ground. With the free gait generation method proposed in this paper, the robot can autonomouslynavigate through rough terrains as soon as possible on the condition that the robot has enough stability margin. The simulation resultsshow the correctness and effectiveness of the proposed method.
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Design and control method of a hydraulic power unit for a wheel-legged robot
Zemin Cui,Xuewen Rong,Yibin Li 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.4
For a hydraulic wheel-legged robot (WLR), it is essential to have a powerful and lightweight power supply. In this paper, a compact hydraulic power unit (HPU) is developed, and a control method to reduce the energy consumption of the robot is proposed. To achieve a high jump of the robot, an accumulator serves as an auxiliary oil source. To reduce the pressure loss caused by the throttle of the servo valve, we control the pressure of the system through load sensing. Simulation results showed that the power of the HPU using the accumulator could be amplified 3.3 times. The experimental results obtained through physical testing showed that the power consumption of the system using the load sensing mechanism was reduced by more than 50 %.
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Planning and Execution of Dynamic Whole-body Locomotion for a Wheeled Biped Robot on Uneven Terrain
Yaxian Xin,Jiuhong Ruan,Yibin Li,Hui Chai,Xuewen Rong 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
To improve the adaptability of the wheeled biped robot (WBR) to uneven terrain, firstly an integrated modeling method for wheeled-legs is proposed. The under-actuated part is effectively restrained by defining the interaction force between the WBR and the trunk. The mapping relationship between the wheeled leg’s end force and the joint torques in the balanced state is built. Based on this premise, a control framework that does not rely on external sensors is proposed, and the trunk pose is used as the task space to plan the generalized force output of the wheeled legs and calculate the joint torques. Since the joint space position is not constrained, the leg wheels will be based on the terrain conditions and are adaptively stretched and adjusted back and forth. To further improve the terrain adaptability, a slope estimator and a stabilizer are constructed to deal with the attitude fluctuation caused by the sudden change of terrain. The control framework is proved to verify by simulations and experiment.
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