Hostname: page-component-74656f9884-npj9w Total loading time: 0 Render date: 2026-11-09T01:01:13.579Z Has data issue: false hasContentIssue false
  • English
  • Français

Study on hexapod robot manipulation using legs

Published online by Cambridge University Press:  09 July 2014

Xilun Ding  and
Fan Yang
Xilun Ding
Affiliation:
Robotics Research Institute, Beihang University, Haidian District, Beijing, China
Fan Yang*
Affiliation:
Robotics Research Institute, Beihang University, Haidian District, Beijing, China
*
*Corresponding author: E-mail: robot.fan@me.buaa.edu.cn
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

In order to provide a novel approach for the operational problems of walking robots, this paper presents a method by which a hexapod robot uses its legs to manipulate an object, and this involves the following two steps. First, two adjacent legs are used to manipulate the object. Next, the supporting legs are required to assist the arms to obtain high manipulability. The manipulation constraints, workplaces, and kinematic models are analyzed using screw theories. Moreover, an optimization algorithm is proposed to reduce energy consumption under stability constraints. We also introduce a manipulation control model that simultaneously considers the supporting and operating legs. Finally, the validity of these methods is proved by the results of experiments and simulations.

Keywords

ManipulationHexapod robotKinematic analysis

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 2 , February 2016 , pp. 468 - 481
Copyright
Copyright © Cambridge University Press 2014 

References

1.Hirose, S., “Three Basic Types of Locomotions in Mobile robots,” In: Proceedings of the 5th International Conference on Advanced Robotics 1991, ‘Robots in Unstructured Environments’ (ICAR '91), Pise, Italy (Jun. 19–22, 1991) pp. 12–17.Google Scholar
2.Preumont, A., Alexandre, P. and Ghuys, D., “Gait Analysis and Implementation of a Six-Leg Walking Machine,” In: Proceedings of the Fifth International Conference on Advanced Robotics 1991 ‘Robots in Unstructured Environments’ (ICAR '91), Pise, Italy (Jun. 19–22, 1991) pp. 941–945.Google Scholar
3.Ding, X., Wang, Z., Rovetta, A. and Zhu, J., “Locomotion Analysis of Hexapod Robot,” In: Climbing Walking Robots (Miripour, B., ed.) (InTech, Rijeka, Croatia, 2010) pp. 291–310.Google Scholar
4.Yang, J.-M. and Kim, J.-H., “Fault-tolerant locomotion of the hexapod robot,” Systems Man Cybern. IEEE Trans. Cybern. 28, 109–116 (1998).CrossRefGoogle ScholarPubMed
5.Yamamoto, Y. and Yun, X., “Coordinating locomotion and manipulation of a mobile manipulator,” IEEE Trans. Autom. Control 39, 1326–1332 (1994).CrossRefGoogle Scholar
6.Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R. and Casal, A., “Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation,” In: Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 96), Osaka, Japan (Nov. 4–8, 1996) pp. 546–553.Google Scholar
7.Kato, K. and Hirose, S., “Development of the quadruped walking robot, TITAN-IX – mechanical design concept and application for the humanitarian demining robot,” Adv. Robot. 15, 191–204 (2001).CrossRefGoogle Scholar
8.Wilcox, B. H., “ATHLETE: A Cargo and Habitat Transporter for the Moon,” In: Proceedings of the 2009 IEEE Conference on Aerospace, Big Sky, MT, USA (Mar. 7–14, 2009) pp. 1–7.Google Scholar
9.Wilcox, B. H., Litwin, T., Biesiadecki, J., Matthews, J., Heverly, M., Morrison, J., Townsend, J., Ahmad, N., Sirota, A. and Cooper, B., “ATHLETE: A cargo handling and manipulation robot for the moon,” J. Field Robot. 24, 421–434 (2007).CrossRefGoogle Scholar
10.Koyachi, N., Arai, T., Adachi, H., Asami, K.-I. and Itoh, Y., “Hexapod with Integrated Limb Mechanism of Leg and Arm,” In: Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA), Nagoya, Aichi, Japan (May 21–27, 1995) pp. 1952–1957.CrossRefGoogle Scholar
11.Arai, T., Koyachi, N., Adachi, H. and Homma, K., “Integrated Arm and Leg Mechanism and Its Kinematic Analysis,” In: Proceedings of the 1995 IEEE International Conference on Robotics and Automation, Nagoya, Aichi, Japan (May 21–27, 1995) pp. 994–999.CrossRefGoogle Scholar
12.Koyachi, N., Adachi, H., Izumi, M. and Hirose, T., “Control of Walk and Manipulation by a Hexapod with Integrated Limb Mechanism: MELMANTIS-1,” In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'02), Washington, DC, USA (May 11–15, 2002) pp. 3553–3558.Google Scholar
13.Inoue, K., Nishihama, Y., Arai, T. and Mae, Y., “Mobile Manipulation of Humanoid Robots-Body and Leg Control for Dual Arm Manipulation,” In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'02), Washington, DC, USA (May 11–15, 2002) pp. 2259–2264.Google Scholar
14.Bouyarmane, K. and Kheddar, A., “Humanoid robot locomotion and manipulation step planning,” Adv. Robot. 26, 1099–1126 (2012).CrossRefGoogle Scholar
15.Yoneda, K. and Hirose, S., “Tumble Stability Criterion of Integrated Locomotion and Manipulation,” In: Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 96), Osaka, Japan (Nov. 4–8, 1996) pp. 870–876.Google Scholar
16.Melaka, U. T. M., “Development of hexapod robot with manoeuvrable wheel,” Institutions 49, 119–136 (2012).Google Scholar
17.Lewinger, W. A., Branicky, M. S. and Quinn, R. D., Insect-Inspired, Actively Compliant Hexapod Capable of Object Manipulation (Springer, New York, NY, 2006).CrossRefGoogle Scholar
18.Belter, D. and Skrzypczyński, P., “A biologically inspired approach to feasible gait learning for a hexapod robot,” Int. J. Appl. Math. Comput. Sci. 20, 69–84 (2010).CrossRefGoogle Scholar
19.Inoue, K., Ooe, K. and Lee, S., “Pushing Methods for Working Six-Legged Robots Capable of Locomotion and Manipulation in Three Modes,” In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska (May 3–8, 2010) pp. 4742–4748.CrossRefGoogle Scholar
20.Voyles, R. M. and Larson, A. C., “Terminatorbot: A novel robot with dual-use mechanism for locomotion and manipulation,” IEEE/ASME Trans. Mechatronics 10, 17–25 (2005).CrossRefGoogle Scholar
21.Wang, Z., Ding, X. and Rovetta, A., “Analysis of typical locomotion of a symmetric hexapod robot,” Robotica 28, 893–907 (2010).CrossRefGoogle Scholar
22.HE Ping, G. X.-H., Lei, Y., Hong, L. and He-gao, C., “Multi- fingered manipulation with HIT/DLR hand,” J. Harbin Inst. Technol. 37 (11), 1555–1559 (2005).Google Scholar
23.Murray, R. M., Li, Z., Sastry, S. S. and Sastry, S. S., A Mathematical Introduction to Robotic Manipulation (CRC Press LLC, Boca Raton)CrossRefGoogle Scholar
24.Khatib, O., “Real-time obstacle avoidance for manipulators and mobile robots,” Int. J. Robot. Res. 5, 90–98 (1986).CrossRefGoogle Scholar
25.Hart, P. E., Nilsson, N. J. and Raphael, B., “A formal basis for the heuristic determination of minimum cost paths,” IEEE Trans. Syst. Sci. Cybern. 4, 100–107 (1968).CrossRefGoogle Scholar
26.Dashy, I.-M. C. Anjan Kumar, Yeo, S. H. and Yang, G., “Instantaneous Kinematics and Kinematic Control of In-Parallel Robots,” Proceedings of the Asian Conference on Robotics and Its Application (Jun. 2001) pp. 7–12.Google Scholar