Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2023
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2309.01112 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866918107391459328 |
|---|---|
| author | Fu, Ze Li, Yinghui Guo, Weizhong |
| author_facet | Fu, Ze Li, Yinghui Guo, Weizhong |
| contents | The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize force sensing information to improve its motion performance, in this paper, we propose a finite state machine model for the swing leg in the static gait by imitating the movement of the elephant. Based on the presence or absence of additional terrain information, different trajectory planning strategies are provided for the swing leg to enhance the success rate of stepping and save energy. The experimental results on a novel quadruped robot show that our method has strong robustness and can enable heavy-load legged robots to pass through various complex terrains autonomously and smoothly. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2309_01112 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Swing Leg Motion Strategy for Heavy-load Legged Robot Based on Force Sensing Fu, Ze Li, Yinghui Guo, Weizhong Robotics Systems and Control The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize force sensing information to improve its motion performance, in this paper, we propose a finite state machine model for the swing leg in the static gait by imitating the movement of the elephant. Based on the presence or absence of additional terrain information, different trajectory planning strategies are provided for the swing leg to enhance the success rate of stepping and save energy. The experimental results on a novel quadruped robot show that our method has strong robustness and can enable heavy-load legged robots to pass through various complex terrains autonomously and smoothly. |
| title | Swing Leg Motion Strategy for Heavy-load Legged Robot Based on Force Sensing |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2309.01112 |