Instability Adjustment and Fault-tolerant Gait Design for Hexapod Robot Single Leg Failure

doi:10.3901/JME.2021.01.100

Abstract

Abstract: The stability of the hexapod robot when the single leg failure occurs in the supporting leg during the movement process is analyzed. According to the instability determination method of ZMP and FASM, an instability tilting adjustment strategy based on real-time motion plane analytic solution method is presented. An adaptive fault-tolerant gait generator is designed based on the hierarchical modeling of CPG controller, which extends or shortens the support phase according to the change of leg load and can produce a variety of gait. The ADAMS-Matlab joint simulation system is used to simulate the one-leg failure tipping adjustment strategy and fault-tolerant gait of the hexapod robot. The experimental results show that the robot can complete the adjustment within one second when the robot fails to tip over. The stability margin in adaptive fault-tolerant gait is in the range of 0.6-1.6 m and the range of rollover and pitch angle is between –1°-1°. The feasibility and effectiveness of the instability rollover adjustment strategy and adaptive fault-tolerant gait application on the one-legged hexapod robot are verified.

Key words: hexapod robot, single leg failure, instability tilt adjustment, adaptive fault tolerant gait

CLC Number:

TP242

YOU Bo, LI Kunpeng, LI Jiayu, LIU Daquan. Instability Adjustment and Fault-tolerant Gait Design for Hexapod Robot Single Leg Failure[J]. Journal of Mechanical Engineering, 2021, 57(1): 100-109.

References

[1] YANG J M,KIM J H. Fault-tolerant locomotion of the hexapod robot[J]. Systems,Man,and Cybernetics,Part B:Cybernetics,IEEE Transactions on,1998,28(1):109-116.
[2] YANG J M,KIM J H. A strategy of optimal fault tolerant gait for the hexapodrobot in crab walking[C]//Proceedings of Robotics and Automation,1998,IEEE:1695-1700.
[3] YANG J M,KIM J H. Optimal fault tolerant gait sequence of the hexapod robotwith overlapping reachable areas and crab walking[J]. Systems,Man and Cybernetics,Part A:Systems and Humans,IEEE Transactions on,1999,29(2):224-235.
[4] YANG J M,KIM J H. A fault tolerant gait for a hexapod robot over uneven ter-rain[J]. Systems,Man,and Cybernetics,Part B:Cybernetics,IEEE Transactions on,2000,30(1):172-180.
[5] ASIF U. Improving the navigability of a hexapod robot using a fault-tolerant adaptivegait[J]. International Journal of Advanced Robotic Systems,2012,9(33):1-12.
[6] ASIF U,IQBAL J. Rapid prototyping of a gait generation method using real-time hardware in loop simulation[J]. International Journal of Modeling,Simulation,and Scientific Computing,2011,2(4):393-411.
[7] ASIF U,IQBAL J. On the improvement of multi-legged locomotion over difficult terrains using a balance stabilization method[J]. International Journal of Advanced Robotic Systems,2012,9(1):1.
[8] LEE Y J,HIROSE S. Three-legged walking for fault tolerant loco-motion of a quadruped robot with demining mission[C]//Proceedings of 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems,New York:IEEE,2000:973-978.
[9] LEE Y J,HIROSE S. Three-legged walking for fault-tolerant locomotion of dem-ining quadruped robots[J]. Advanced Robotics,2002,16(5):415-426.
[10] DING X,XU K. Typical 3+3 gait motion analysis of a radial symmetrical six-legged robot based on metamorphic theory[C]//Proceedings of Advances in Reconfigurable Mechanisms and Robots I,Springer,2012:535-550.
[11] YANG F,DING X,PENG S. Bio-control of a modular design robot-NOROS[C]//Proceedings of Advances in Reconfigurable Mechanisms and Robots Ⅱ. Springer,2016:891-900.
[12] XU K. Typical gait analysis of a six-legged robot in the context of meta-morphic mechanism theory[J]. Chinese Journal of Mechanical Engineering,2013,26(4):771-783.
[13] WANG Z,DING X,ROVETTA A. Analysis of typical locomotion of a symmetric hexa-pod robot[J]. Robotica,2010,28(6):893-907.
[14] DING X,WANG Z,ROVETTA A,et al. Climbing and Walking Robots[M]. InTech,2010.
[15] WANG Z. Conceptual design of a novel robotics system for planetary explo-ration[C]//Proceedings of Intelligent Control and Automation,2006:8962-8965.
[16] SCHLEYER G,RUSSELL A. Adaptable gait generation for autotomised legged robots[C]//Proceedings of Australasian Conference on Robotics and Automation (ACRA),2010:1.
[17] 杜慧. 六足机器人容错性能及容错运动规划[D]. 上海:上海交通大学,2016. DU hui. Fault tolerant property and motion planning of a hexapod robot[D]. Shanghai:Shanghai Jiao Tong University,2016.
[18] 田海波,方宗德,周勇,等. 轮腿式机器人倾覆稳定性分析与控制[J]. 机器人,2009,31(2):159-165. TIAN Haibo,FANG Zongde,ZHOU Yong,et al. Analysis and control of the collapse stability of wheel-legged robot[J]. Robot,2009,31(2):159-165.
[19] 刘志江. 崎岖地形下六足机器人的失稳判定与调整[D]. 武汉:华中科技大学,2013. LIU zhijiang. Judgment and adjustment of instability for hexapod robot on rough terrain[D]. Wuhan:Huazhong University of Science and Technology,2013.
[20] RYBAK I A,SHEVTSOVA N A,LAFRENIERE-ROULA M,et al. Modelling spinal circuitry involved in locomotor pattern generation:Insights from deletions during fictive locomotion[J]. J. Physiol.,2006,577(2):617-639.
[21] KATSUYOSHI T,KAZUO T,AHMET O. Adaptive gait pattern control of a quadruped locomotion robot[C]//Proceedings of the 2001 IEEE/RSJ,International Conference on Intelligent Robots and Systems,Maui,Hawaii,USA,2001.
[22] KAZUO T,SHINYA A,KATSUYOSHI T. Locomotion control of a biped robot using nonlinear oscillators[J]. Autonomous Robots,2005,19:219-232.
[23] DAI O,LEONA M,AKIO I. Listen to Body's message:Quadruped robot that fully exploits physical interaction between legs[C]//2012 IEEE/RSJ International Conference on Intelligent Robots and Systems,2012.
[24] KAWATA T,KAMIYAMA K. Fault-tolerant adaptive gait generation for multi-limbed robot[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE,2016.
[25] MOSTAFA K,TSAI C S,HER I. Alternative gaits for multiped robots with leg failures to retain maneuverability[J]. International Journal of Advanced Robotic Systems,2010,7(4):1.