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Martinez-Villaseñor, Lourdes
Modeling and simulation for designing a line walking chameleon-like legged robot
Modeling and Control Balance Design for a New Bio-inspired Four-Legged Robot
2022
,
Ponce, Hiram
,
Acevedo, Mario
,
Martinez-Villaseñor, Lourdes
,
Díaz Ramos, Gabriel
,
Mayorga Acosta, Carlos
Legged robots have been developed to move on uneven terrains. They can move smoother and step over obstacles easily, and they are more versatile in various environmental scenarios. These features make them desirable for maintenance and/or search-and-rescue tasks where mobility is restricted on these complex terrains. A problem arises when legged robots are required to walk on the top of narrow support, e.g. thin beams or tubes. In this work, we present the design of a line walking legged robot for narrowed support. To achieve this goal, we get inspiration from the chameleon locomotion. From these observations, we simulate the robot, design an intelligent control strategy for self-balancing and walking, and we implement a robot prototype. The experimental results show that the balance controller provides a tilt angle of 2.24±2.21∘, while the robot walks in a straight line with a maximum offset of 3.0 cm and with a walking velocity of 0.2 cm/s. Our results demonstrate that the robot can move on narrowed support lines. We anticipate that the design of legged robots inspired by the chameleon locomotion might open wider possibilities for rescue and maintenance missions. © 2022 Elsevier B.V.
2019
,
Ponce, Hiram
,
Acevedo, Mario
,
Morales, Elizabeth
,
Martinez-Villaseñor, Lourdes
,
Mayorga-Acosta, Carlos
,
Díaz Ramos, Gabriel
Bio-inspired robots have chosen to propose novel developments aiming to inhabit and interact complex and dynamic environments. Bio-inspired four-legged robots, typically inspired on animal locomotion, provide advantages on mobility, obstacle avoidance, energy efficiency and others. Balancing is a major challenge when legged robots require to move over uncertain and sharp terrains. It becomes of particular importance to solve other locomotion tasks such as walking, running or jumping. In this paper, we present a preliminary study on the modeling and control balance design of a bio-inspired four-legged robot for standing on its aligned legs in a straight line. The proposed robot is loosely inspired on the bio-mechanics of the chameleon. Thus, a mathematical modeling, simulation, intelligent control strategy, prototype implementation and preliminary results of control balance in our robot are presented and discussed. © Springer Nature Switzerland AG 2019.