Mobile manipulation planning analysis of a novel leg-arm integration hexapod robot based on the center of mass kinematics theory

IF 6 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Ain Shams Engineering Journal Pub Date : 2025-04-28 DOI:10.1016/j.asej.2025.103439

Yi Zheng , Sixian Rao , Jiapeng Gao , Jiong Kong

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Abstract

This study introduces a hexapod robot with integrated leg-arm mechanisms for stable mobile manipulation through center of mass (COM) kinematics planning. The design features two transformable limbs achieving dual-arm manipulation while maintaining stability through coordinated four-leg compensation. Subsequently, a complete COM kinematics model is established, encompassing leg branches, leg-arm branches, and a full-body system, providing the theoretical basis for mobile manipulation planning. In addition, by leveraging the analysis of the (3 + 1) static gait characteristics to establish a planar COM trajectory and foot-end motion patterns, combined with the COM height definition and inverse COM kinematics implementation, precise leg motion control is achieved using an effective workspace trajectory to joint space trajectory mapping. Compared with conventional kinematic approaches, this method demonstrates superior walking stability and payload handling capability through systematic virtual prototype simulations and prototype experiments. This work advances legged robotics by solving simultaneous locomotion-manipulation challenges through whole-body COM regulation.

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基于质心运动学理论的新型腿臂一体化六足机器人移动操作规划分析

介绍了一种通过质心运动学规划实现稳定移动操作的六足机器人。该设计具有两个可变形的肢体，实现双臂操作，同时通过协调的四条腿补偿保持稳定性。随后，建立了包含腿分支、腿-臂分支和全身系统的完整COM运动学模型，为移动操作规划提供理论依据。此外，通过分析（3 + 1）静态步态特征，建立平面COM轨迹和足端运动模式，结合COM高度定义和逆COM运动学实现，利用有效的工作空间轨迹到关节空间轨迹映射，实现腿部运动的精确控制。通过系统的虚拟样机仿真和样机实验，与传统运动学方法相比，该方法具有更好的行走稳定性和有效载荷处理能力。这项工作通过解决全身COM调节的同时运动操纵挑战来推进腿机器人技术。

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来源期刊

Ain Shams Engineering Journal Engineering-General Engineering

CiteScore

10.80

自引率

13.30%

发文量

441

审稿时长

49 weeks

期刊介绍： in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance. Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.