A novel kinematics and statics correction algorithm of semi-cylindrical foot end structure for 3-DOF LHDS of legged robots
Open accessAbstract
In this paper, aiming at the problem that the ideal modeling point of the foot end deviates from the actual contact point due to the rolling effect of the semi-cylindrical foot end in leg hydraulics drive system (LHDS), a novel and relatively simple kinematics and statics correction algorithm is proposed. This algorithm can effectively improve the accuracy of LHDS kinematics and statics, and it is still applicable when the body and the contact surface are at different angles. Firstly, this paper deduces the kinematics and statics when the foot end of LHDS is regarded as the point foot, analyzes and calculates the deviation under common working conditions. Secondly, in view of this phenomenon, a kinematics correction algorithm based on virtual DOF and a statics correction algorithm based on translation theorem of forces are proposed respectively. Finally, the proposed algorithm is verified by LHDS performance test platform under various working conditions. The results show that after applying the kinematics correction algorithm, the trajectory deviation reduction rate of the hip joint is over 65%; after applying the statics correction algorithm, the deviation reduction rate of foot end contact force is over 43%. The related research results can be applied to any similar foot end, which has engineering application value.
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
Control strategy of stable walking for a hexapod wheel-legged robot
Chen, Z., Wang, S., Wang, J., Xu, K., Lei, T., Zhang, H., Wang, X., Liu, D., & Si, J. (2020) · ISA Transactions · doi:10.1016/j.isatra.2020.08.033 · Cited by 120 · see citing works
Control of a path following caterpillar robot based on a sliding mode variable structure algorithm
Li, Z., Chen, L., Zheng, Q., et al. (2019) · Biosystems Engineering · doi:10.1016/j.biosystemseng.2019.07.004 · Cited by 78 · see citing works
A novel inverse kinematics method for 6-DOF robots with non-spherical wrist
Li, J., Yu, H. Q., Shen, N., et al. (2020) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2020.104180 · Cited by 38 · see citing works
Ba, K., Song, Y., Yu, B., et al. (2021) · Mechanical Systems and Signal Processing · doi:10.1016/j.ymssp.2021.108566 · Cited by 30 · see citing works
Self-citationBa, K., Song, Y., Shi, Y., et al. (2021) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2021.104685 · Cited by 28 · see citing works
Self-citationExperimental analysis of spray behavior and lubrication performance under twin-fluid atomization
Chen, B., Gao, D., Li, Y., et al. (2020) · Journal of Manufacturing Processes · doi:10.1016/j.jmapro.2020.11.029 · Cited by 21 · see citing works
ENVIRONMENT PERCEPTION WITH A LASER RADAR IN A FAST MOVING ROBOT
Hinkel, R., & Knieriemen, T. (1989) · Elsevier eBooks · doi:10.1016/b978-0-08-035742-3.50050-2 · Cited by 19 · see citing works
Chen, G., Jin, B., & Chen, Y. (2014) · Journal of Central South University · doi:10.1007/s11771-014-2408-3 · Cited by 17 · see citing works
Savaee, E., & Hanzaki, A. R. (2021) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-020-01296-9 · Cited by 17 · see citing works
Analysing and solving body misplacement problems in walking robots with round rigid feet
Guardabrazo, T., Jimenez, M. A., & de Santos, P. G. (2005) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2005.10.007 · Cited by 16 · see citing works
Li, D., Lü, K., Cheng, Y., et al. (2020) · Nuclear Engineering and Technology · doi:10.1016/j.net.2020.04.017 · Cited by 16 · see citing works
Design, Simulation, and Preliminary Validation of a Four-Legged Robot
Rodinò, S., Curcio, E. M., di Bella, A., et al. (2020) · Machines · doi:10.3390/machines8040082 · Cited by 16 · see citing works
Calibration for Odometry of Omnidirectional Mobile Robots Based on Kinematic Correction
lin, P. C., Liu, D., Yang, D., et al. (2019) · International Conference on Computer Science & Education (ICCSE) · doi:10.1109/iccse.2019.8845402 · Cited by 15 · see citing works
Kalman Filter Based Observer for an External Force Applied to Medium-sized Humanoid Robots
Hawley, L., Rahem, R., & Suleiman, W. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593610 · Cited by 11 · see citing works
Adaptive dynamic locomotion of quadrupedal robots with semicircular feet on uneven terrain
Kwon, O., & Park, S. (2014) · International Journal of Control Automation and Systems · doi:10.1007/s12555-013-0253-z · Cited by 9 · see citing works
Danes, L. H., & Vacca, A. (2021) · International Journal of Hydromechatronics · doi:10.1504/ijhm.2021.118006 · Cited by 9 · see citing works
End-effector force estimation method for an unmanned aerial manipulator
Turković, K., Car, M., & Orsag, M. (2019) · Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) · doi:10.1109/reduas47371.2019.8999670 · Cited by 4 · see citing works
EXTRINSIC RGB-D CAMERA CALIBRATION FOR LEGGED ROBOTS
Hoepflinger, M. A., Remy, C. D., Hutter, M., et al. (2011) · Field Robotics · doi:10.1142/9789814374286_0011 · Cited by 2 · see citing works
Flagged first, then by citations
Research works printed but not linked: 2
- Yuan X, Wang W, Zhu X et al (2022) Theory model of dynamic bulk modulus of aerated hydraulic fluid. Chin J Mech Eng-en. https:// doi.org/10.1186/s10033-022-00735-y · DOI
- Chen W, Ren G et al (2014) An adaptive locomotion controller for a hexapod robot: CPG, kinematics and force feedback[J]. Sci China (Information Sciences) 11(57):223-240
Cited by
Sorted by citations
Ba, K., Wang, Y., He, X., Wang, C., Yu, B., Liu, Y., & Kong, X. (2024) · Chinese Journal of Mechanical Engineering · doi:10.1186/s10033-023-00988-1 · Cited by 18 · see citing works
“Based on a previous study as a foundation [26], the authors performed a mathematical modeling and parameter sensitivity analysis of the valve-controlled cylinder force control system and discovered the effects of the parameters in the system on the force control performance, thus providing a…”
MethodSelf-citation
- Authors
- Ba, K.-X., Song, Y.-H., Wang, C.-Y., Shi, Y.-P., Yu, B., Chen, X., Ma, G.-L., & Kong, X.-D.
- Affiliations
- Yanshan University (CN)
- Corresponding author
- Yu, Bin
- Venue
- Complex & Intelligent Systems
- Published
- 2022-05-23
- Volume
- 8
- Issue
- 6
- Pages
- 5387-5407
- ISSN
- 2198-6053 (ISSN-L)
- 2199-4536
- OpenAlex
- W4281383211
- Cited by
- 7
- References
- 18
- Citations by year
- 2024: 2 · 2023: 3 · 2022: 2
- FWCI
- 0.51
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Locations
- Complex & Intelligent Systems (publishedVersion, cc-by)
- Funders
- National Natural Science Foundation of China (51905465, 52122503)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Keywords
- legged robots, static correction, contact force, trajectory deviation
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
