To realize a wide range of functions in complex environment, the transition is necessary between various motions suited to each environment. This article presents transformable hexapod robot, RHex-T3, which capable switching leg, wheel, and RHex mobile modes improve its flexibility, climbing ladders with hook-mode. The mechanical design implementation RHex-T3 are introduced, especially coaxial transmission mechanism innovative 2-degree-of-freedom leg. As result, experiments conducted...

Achieving robust dynamic walking is one of the most important properties for practical legged robots. This paper proposes two output deadbeat control laws generating a gait in terms convergence speed; generates discrete-time (digital) input and other continuous-time one. We introduce an underactuated spoked walker analysis, show that both approaches can generate fast convergent gaits by adjusting desired settling time through mathematical numerical investigations. also approach has advantage...

This paper discusses the problem of how to achieve high speed, energy efficient, and fast convergent limit cycle walking. We newly introduce convergence speed generated gait as a criterion for evaluation. Through mathematical numerical investigations, we clarify role importance deceleration effect in generation. First, generate ballistic gaits simplest 1-DOF active walker by applying simple control torque, show that stance phase is destabilized case only acceleration effect. Second, propose...

This paper investigates the analytical solution of steady step period in 1-DOF limit cycle walking driven by stepwise control inputs. We introduce an active combined rimless wheel (CRW) model with a motor to analyse state when CRW is on level ground. The initial and terminal boundary conditions three kinds basic systems are analysed. can be calculated solving equations we verify results through numerical simulations. At last extend method N-period system calculate general solutions period....

This paper proposes a novel method for generating an underactuated bipedal gait that completes in one step. First, we introduce biped robot model has circular torso as reaction wheel. Second, consider input-output linearization to formulate output-following control law achieving collisionless limit cycle walking. We then mathematically analyze the stability of zero dynamics and investigate fundamental properties through numerical simulations. Furthermore, discuss extension generation...

This paper introduces a leg-wheel transformable quadruped robot named Lywal which can switch to the leg-mode and wheel-mode for locomotion, claw-mode picking up transport functions. First, mechanical structure of is designed by using an innovative 2-DoF mechanism. Second, calculation kinematics analyzed in detail. Then, switching-mode strategy mobile control strategies different modes are designed. Finally, prototype built. The properties analyzed, picking-up functions verified through...

Snake robots have great potential for exploring and operating in challenging unstructured environments, such as rubble, caves, narrow pipelines. However, due to the complexity unpredictability of designing a controller that can achieve adaptive motion is crucial. This paper proposes self-adaptive torque-based rolling snake robots, enabling compliant environments. First, designed modify torque each motor by focusing on different states gait. Second, an experimental platform established verify...

Redundant manipulators are flexible enough to adapt complex environments, but their controller is also required be specific for extra degrees of freedom. Inspired by the morphology snakes, we propose a path planning algorithm named Swinging Search and Crawling Control, which allows snake-like redundant explore in pipeline environments without collision. The proposed consists Control. In Search, collision-free manipulator configuration that end-effector target point found applying...

This paper proposes an approximate-kinetic-model-based self-adaptive (AKS) control system to rapidly generate target walking speed by underactuated compasslike bipedal walker. First, a model of the compass-like walker is built, and open-loop introduced analysed as prototype AKS system. Second, law described in detail. The dynamic updating trajectory proposed calculation parameters approximate linearized analysed. Finally, simulations are conducted, thus capability disturbance rejection...

For space robots accomplishing the overwhelming majority of on-orbit servicing(OOS) missions, capture a target object is primary task. Capture rotating in orbit an especially important and challenging task for OOS such as orbital debris removal. This paper studies control strategy capturing fast by manipulator from floating spacecraft three-dimensional space. First, order to simulate real contact condition much possible, dynamics model considering effect geometry interfaces built. Second,...

With the development of space technology, future mission will have to increasingly face various complex robotic tasks. support high-fidelity ground simulation and verification, we can effectively optimize system designs, reduce implement risks improve intelligent automation level systems. This paper introduces a hardware-in-the-loop (HIL) facility designed verification Chinese Space Station Manipulator. Several research efforts been made guarantee performance requirements HIL simulation. The...

In this paper, a novel snake-like robot is proposed by attaching gripper on its head to enhance the exploration and operation abilities of robots. First, mechanical structures are designed. Second, physical prototype control system built. Finally, serpenoid, sidewinding, rolling gaits our designed based kinematics model, moving gripping functions verified through experiments. As result, has high potential in complex environments performing variety tasks.

This paper presents a transformable RHex-inspired robot, RHex-T3, with high energy efficiency, excellent flexibility and versatility. By using the innovative 2-DoF structure, RHex-T3 inherits most of RHex's mobility, can also switch to other 4 modes for handling various missions. The wheel-mode improves efficiency leg-mode helps generate smooth locomotion when is overcoming obstacles. In addition, claw-mode transportation missions, even climb ladders by hook-mode. simulation model conducted...

This paper investigates the possibility and fundamental properties of limit cycle walking on slippery road surface. First, we develop mathematical model a planar underactauted biped robot with an upper body that walks while sliding oily/ice floor. Second, conduct numerical simulations to show stable gait generation can be achieved by applying simple output following control relative joint angles. Furthermore, analyze according change in system parameters such as friction coefficient desired angle.

[abstFig src='/00290003/02.jpg' width='300' text='Underactuated rimless wheel model for collisionless walking' ] In this paper, control methods achieving walking of robotic underactuated walkers are discussed. Collisionless is a gait type motion that does not cause collision during the landing swing-leg end. First, we introduce simple point-footed walker and develop its equation. Second, propose two time-scale output deadbeat approaches demonstrate mathematically their ability to generate...

This paper proposes a method for generating an underactuated bipedal gait without including state jumps during motion. We introduce model of point-footed and non-straight-legged biped robot with reaction wheel attached to the hip joint, design two controllers; one is strict output-following control leg motion single-limb support phase, other discrete-time output deadbeat controlling angular position velocity initial ones. The generated draws symmetric orbit origin in configuration space, but...

Toward stable gait generation on a steep slope, this paper discusses method for generating walking completing in one step an underactuated rimless wheel. First, we introduce model of six-legged wheel with reaction wheel, and develop two controllers the single-limb double-limb support phases. For easily achieving precise control state variables, apply discrete-time output deadbeat each phase. We numerically analyze fundamental properties generated gait, show that target period phase must be...

The manipulator task verification facility (MTVF) system is a ground testing for verifying space robot capturing operations. In this paper, numerical simulation of the MTVF established to ensure security devices in physical contact and verify control algorithm system. consists four main modeling parts: dynamics model robot, target object, models emulation robots models. order be close real process, nonlinear damping 3-dimensional bristle friction force are employed considering approaching...

The mobility of a snake robot is limited by factors such as its length, mass distribution, and torque output. To overcome these limitations, the cooperation between two robots can be an effective strategy, inspired hand-in-hand interaction humans. In this article, cooperative strategies for double are presented to improve their in some extreme environments. order achieve force robots, we introduce docking which enables them cross ditches climb slopes. We further study demonstrate...

This paper investigates the analytical solution of target steady walking speed in 1-DOF limit cycle walking. We introduce an active combined rimless wheel (CRW) model to analyze state when CRW walks on level ground. The is determined by step period because length constant. First we propose a two-period stepwise control system and can be generated solving equations boundary conditions. Second extend this method (n + 1)-period generate general formula for equation. At last continuous systems...

This paper presents a novel snake robot with the docking function, which can help robots to connect each other achieve stronger one double length and degrees of freedom. First, mechanical design function is introduced, including body link head-tail passive structure. Second, control system built, strategies locomotion are separately proposed. Then, visual perception implemented for target recognition during process. Finally, prototype developed. The mobility fully verified analyzed through...

This paper proposes the feedforward control systems for generating limit cycle walking at a target speed by an active combined rimless wheel (CRW) model. We propose which can design input beginning of each step based on mathematical analysis initial and states. As result, speeds are generated numerical simulations. In addition, controlling stability, we extend to two-period stepwise systems. The also stability controlled settling time parameter.