Kinematics-searched framework for quadruped traversal in a parallel robot
ISSN: 0143-991x
Article publication date: 4 December 2019
Issue publication date: 23 March 2020
Abstract
Purpose
In this research, the authors established a hierarchical motion planner for quadruped locomotion, which enables a parallel wheel-quadruped robot, the “BIT-NAZA” robot, to traverse rough three-dimensional (3-D) terrain.
Design/methodology/approach
Presented is a novel wheel-quadruped mobile robot with parallel driving mechanisms and based on the Stewart six degrees of freedom (6-DOF) platform. The task for traversing rough terrain is decomposed into two prospects: one is the configuration selection in terms of a local foothold cost map, in which the kinematic feasibility of parallel mechanism and terrain features are satisfied in heuristic search planning, and the other one is a whole-body controller to complete smooth and continuous motion transitions.
Findings
A fan-shaped foot search region focuses on footholds with a strong possibility of becoming foot placement, simplifying computation complexity. A receding horizon avoids kinematic deadlock during the search process and improves robot adaptation.
Research limitations/implications
Both simulation and experimental results validated the proposed scenario available and appropriate for quadruped locomotion to traverse challenging 3-D terrains.
Originality/value
This paper analyzes kinematic workspace for a parallel robot with 6-DOF Stewart mechanism on both body and foot. A fan-shaped foot search region enhances computation efficiency. Receding horizon broadens the preview search to decrease the possibility of deadlock minima resulting from terrain variation.
Keywords
Citation
Guo, F., Wang, S., Wang, J. and Yu, H. (2020), "Kinematics-searched framework for quadruped traversal in a parallel robot", Industrial Robot, Vol. 47 No. 2, pp. 267-279. https://doi.org/10.1108/IR-05-2019-0098
Publisher
:Emerald Publishing Limited
Copyright © 2019, Emerald Publishing Limited