{"title":"六足机器人倾翻不稳定性的判断与调整","authors":"Zhijiang Liu, Siyu Chen, Xinhao Luo","doi":"10.1109/ROBIO.2013.6739753","DOIUrl":null,"url":null,"abstract":"Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on the principle of maximizing force arm. Taking the case of a hexapod robot's sideline tipping on a slope terrain as an example, the simulation results verify the effectiveness of the proposed method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Judgment and adjustment of tipping instability for hexapod robots\",\"authors\":\"Zhijiang Liu, Siyu Chen, Xinhao Luo\",\"doi\":\"10.1109/ROBIO.2013.6739753\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on the principle of maximizing force arm. Taking the case of a hexapod robot's sideline tipping on a slope terrain as an example, the simulation results verify the effectiveness of the proposed method.\",\"PeriodicalId\":434960,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2013.6739753\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739753","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Judgment and adjustment of tipping instability for hexapod robots
Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on the principle of maximizing force arm. Taking the case of a hexapod robot's sideline tipping on a slope terrain as an example, the simulation results verify the effectiveness of the proposed method.