Design Principles for a Family of Direct Drive Legged Robots

Type of mobile robot

Legged robots are a type of mobile robot which utilize articulated limbs, such equally leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots frequently imitate legged animals, such equally humans or insects, in an example of biomimicry.^{[ane] [2]}

Gait and back up blueprint [edit]

Legged robots, or walking machines, are designed for locomotion on rough terrain and require command of leg actuators to maintain balance, sensors to determine foot placement and planning algorithms to determine the direction and speed of movement.^{[3] [iv]} The periodic contact of the legs of the robot with the ground is called the gait of the walker.

In order to maintain locomotion the center of gravity of the walker must be supported either statically or dynamically. Static support is provided by ensuring the center of gravity is within the back up pattern formed by legs in contact with the ground. Dynamic support is provided by keeping the trajectory of the center of gravity located so that it can be repositioned past forces from one or more of its legs.^[v]

Types [edit]

Legged robots tin can be categorized past the number of limbs they utilize, which determines gaits available. Many-legged robots tend to be more stable, while fewer legs lends itself to greater maneuverability.

One-legged [edit]

One-legged, or pogo stick robots use a hopping motility for navigation. In the 1980s, Carnegie Mellon Academy adult a one-legged robot to study balance.^[six] Berkeley's SALTO is another example.^{[vii] [8] [ix] [10]}

2-legged [edit]

Bipedal or two-legged robots exhibit bipedal movement. As such, they face up ii primary issues:

1. stability command, which refers to a robot's balance, and
2. motion control, which refers to a robot's ability to move.

Stability control is particularly hard for bipedal systems, which must maintain balance in the forrad-backward direction even at remainder.^[1] Some robots, especially toys, solve this trouble with large feet, which provide greater stability while reducing mobility. Alternatively, more avant-garde systems use sensors such every bit accelerometers or gyroscopes to provide dynamic feedback in a fashion that approximates a human existence's residuum.^[ane] Such sensors are besides employed for motion control and walking. The complexity of these tasks lends itself to machine learning.^[2]

Simple bipedal motion can be approximated past a rolling polygon where the length of each side matches that of a unmarried footstep. As the stride length grows shorter, the number of sides increases and the motion approaches that of a circle. This connects bipedal motion to wheeled movement as a limit of stride length.^[two]

Two-legged robots include:

• Boston Dynamics' Atlas
• Toy robots such equally QRIO and ASIMO.
• NASA's Valkyrie robot, intended to aid humans on Mars.^[eleven]
• The ping-pong playing TOPIO robot.

4-legged [edit]

Quadruped robot "BigDog" was beingness developed equally a mule that could traverse difficult terrain.

Quadrupedal or four-legged robots exhibit quadrupedal move. They benefit from increased stability over bipedal robots, especially during movement. At slow speeds, a quadrupedal robot may move just one leg at a time, ensuring a stable tripod. 4-legged robots also benefit from a lower center of gravity than two-legged systems.^[i]

4 legged robots include:

• The TITAN series, developed since the 1980s past the Hirose-Yoneda Laboratory.^[ane]
• The dynamically stable BigDog, developed in 2005 by Boston Dynamics, NASA's Jet Propulsion Laboratory, and the Harvard University Concord Field Station.^[12]
• BigDog's successor, the LS3.
• Spot by Boston Dynamics
• ANYmal^[13] by ANYbotics^[14] - The 2021 edition was spun off to Swiss-Mile. Information technology added a lockable wheel to each leg, which permits piece of cake navigation of stairs and more efficient travel on flat surfaces. The robot can besides stand upright and travel on two of its four legs.^[15]
• MIT's new back flipping mini Cheetah robot
• Aliengo^[xvi] by Unitree Robotics
• Stanford Pupper^[17]
• The Open Dynamic Robot Initiative^[xviii]

Six-legged [edit]

Six-legged robots, or hexapods, are motivated by a desire for even greater stability than bipedal or quadrupedal robots. Their last designs often mimic the mechanics of insects, and their gaits may be categorized similarly. These include:

• Wave gait: the slowest gait, in which pairs of legs move in a "moving ridge" from the back to the front.
• Tripod gait: a slightly faster step, in which iii legs move at once. The remaining 3 legs provide a stable tripod for the robot.^[ane]

Vi-legged robots include:

• Odex, a 375-pound hexapod developed past Odetics in the 1980s. Odex distinguished itself with its onboard computers, which controlled each leg.^[6]
• Genghis, one of the earliest autonomous six-legged robots, was developed at MIT by Rodney Brooks in the 1980s.^{[ane] [nineteen]}
• The modern toy series, Hexbug.

8-legged [edit]

Eight-legged legged robots are inspired past spiders and other arachnids, also as some underwater walkers. They offer by far the greatest stability, which enabled some early successes with legged robots.^[one]

Viii-legged robots include:

• Dante, a Carnegie Mellon University project designed to explore Mount Erebus.^[ane]
• The T8X, a commercially available robot designed to emulate a spider's advent and movements.^[20]

Hybrids [edit]

Some robots utilise a combination of legs and wheels. This grants a machine the speed and energy efficiency of wheeled locomotion equally well as the mobility of legged navigation. Boston Dynamics' Handle, a bipedal robot with wheels on both legs, is 1 example.^[21]

Come across too [edit]

• Leg mechanism
• Boston Dynamics
• Humanoid robot
• Klann linkage
• Jansen'southward linkage
• Robot locomotion
• Walker
• Mecha
• Whegs

References [edit]

1. ^ ^{a b c d e f g h i} Bekey, George A. (2005). Democratic robots: from biological inspiration to implementation and control. Cambridge, Massachusetts: MIT Printing. ISBN978-0-262-02578-2.
2. ^ ^{a b c} Wang, Lingfeng.; Tan, G. C.; Chew, Chee Meng. (2006). Evolutionary robotics: from algorithms to implementations. Hackensack, Due north.J.: World Scientific Pub. ISBN978-981-256-870-0.
3. ^ S. M. Song and K. J. Waldron, Machines that Walk: The Adaptive Suspension Vehicle, The MIT Press, 327 pp
4. ^ J. Michael McCarthy (March 2019). Kinematic Synthesis of Mechanisms: a project based approach. MDA Printing.
5. ^ Chiliad. H. Raibert, Legged Robots That Residue. Cambridge, MA: MIT Press, 1986.
6. ^ ^{a b} Britton, Peter (September 1984). "Engineering the new breed of walking machines". Popular Scientific discipline. Vol. 225, no. 3. pp. 67–69.
7. ^ Israel, Brett (2016-12-06). "Wall-jumping robot is most vertically agile ever built". Berkeley News . Retrieved 2017-06-07 .
8. ^ Jason Falconer. "Two-function "stutter jumps" could reduce jumping robot power consumption". 2012.
9. ^ Byron Spice. "BowGo! CMU robotics researchers develop a pogo stick that aims high". 2001.
10. ^ Liv. "Explosive Pogo Stick Robot Leaps Over 25-Foot Obstacles" Archived 2011-08-06 at the Wayback Machine 2009
11. ^ Subbaraman, Nidhi. 2013. "'Hero' Humanoid Valkyrie Is NASA's Newest Biped Robot." Archived 2018-03-22 at the Wayback Automobile NBC News. December eleven.
12. ^ "BigDog - The Most Avant-garde Rough-Terrain Robot on Earth". Boston Dynamics. Archived from the original on 2017-05-18. Retrieved 2017-06-07 .
13. ^ "ANYmal Research".
14. ^ "ANYbotics | Autonomous Legged Robots for Industrial Inspection". ANYbotics.
15. ^ Coxworth, Ben (2021-12-03). "Wheeled, legged quadruped robot is now set to stand and evangelize". New Atlas . Retrieved 2021-12-06 . {{cite web}}: CS1 maint: url-status (link)
16. ^ Chen, Zhongkai. "unitree". unitree.
17. ^ "Pupper — Stanford Student Robotics". Stanford Student Robotics.
18. ^ "Open Dynamic Robot Initiative". open up-dynamic-robot-initiative.github.io.
19. ^ Brooks, R. (1989). A robot that walks: Emergent behaviors from a carefully evolved network. Neural Computation 1(2): 253-262; reprinted in R. Brooks, Cambrian Intelligence: The Early on History of the New AI (Cambridge, Massachusetts: MIT Printing), chap. 2.
20. ^ Walsh, Michael (2017-02-11). "Behemothic Robot Spiders Will Presently Dominion United states of america All". Nerdist. Archived from the original on 2017-02-15. Retrieved 2017-06-07 .
21. ^ Ackerman, Erico Guizzo and Evan (2017-02-27). "Boston Dynamics Officially Unveils Its Bike-Leg Robot: "Best of Both Worlds"". IEEE Spectrum: Technology, Applied science, and Scientific discipline News . Retrieved 2017-06-07 .

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Source: https://en.wikipedia.org/wiki/Legged_robot

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