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Sensors 2016, 16(9), 1392;

Trajectory Correction and Locomotion Analysis of a Hexapod Walking Robot with Semi-Round Rigid Feet

Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China
State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310028, China
School of Information Engineering, Chang’an University, Xi’an 710064, China
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 29 May 2016 / Revised: 16 August 2016 / Accepted: 24 August 2016 / Published: 31 August 2016
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [9122 KB, uploaded 31 August 2016]   |  


Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value between the ideal foothold and real foothold is analyzed. The forward/inverse kinematic solutions between the ideal foothold and joint angular vectors are formulated and the problem of direct/inverse kinematic nonlinear mapping is solved by using the LS-SVM. Compared with the previous approximation method, this correction methodology has better accuracy and faster calculation speed with regards to inverse kinematics solutions. Experiments on a leg platform and a hexapod walking robot are conducted with multi-sensors for the analysis of foot tip trajectory, base joint vibration, contact force impact, direction deviation, and power consumption, respectively. The comparative analysis shows that the trajectory correction methodology can effectively correct the joint trajectory, thus eliminating the contact force influence of semi-round rigid feet, significantly improving the locomotion of the walking robot and reducing the total power consumption of the system. View Full-Text
Keywords: hexapod; semi-round rigid foot; kinematics; trajectory correction; sensors system hexapod; semi-round rigid foot; kinematics; trajectory correction; sensors system

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Zhu, Y.; Jin, B.; Wu, Y.; Guo, T.; Zhao, X. Trajectory Correction and Locomotion Analysis of a Hexapod Walking Robot with Semi-Round Rigid Feet. Sensors 2016, 16, 1392.

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