Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2017 (2017), Article ID 6841972, 16 pages
https://doi.org/10.1155/2017/6841972
Research Article

Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot

1School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China
2Mechanical & Electrical Engineering School, Beijing Information Science & Technology University, Beijing 100192, China

Correspondence should be addressed to Long Bai; moc.621@nj6130gnoliab

Received 8 August 2016; Revised 16 January 2017; Accepted 12 February 2017; Published 9 March 2017

Academic Editor: Francisco Valero

Copyright © 2017 Long Bai et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. B. Verrelst, B. Vanderborght, J. Vermeulen, R. V. Ham, J. Naudet, and D. Lefeber, “Control architecture for the pneumatically actuated dynamic walking biped ‘lucy’,” Mechatronics, vol. 15, no. 6, pp. 703–729, 2005. View at Publisher · View at Google Scholar · View at Scopus
  2. M. Lavoie and A. L. Desbiens, “Design of a cockroach-like running robot for the 2004 SAE walking machine challenge,” in Climbing and Walking Robots, pp. 311–318, Springer, 2006. View at Publisher · View at Google Scholar
  3. T. Morimoto, M. Aliff, T. Akagi, and S. Dohta, “Development of flexible haptic robot arm using flexible pneumatic cylinders with backdrivability for bilateral control,” in Proceedings of the 3rd International Conference on Intelligent Technologies and Engineering Systems (ICITES '14), vol. 345 of Lecture Notes in Electrical Engineering, pp. 231–237, Springer, 2016. View at Publisher · View at Google Scholar
  4. H. Qiu, S. Dohta, T. Akagi, S. Shimooka, and S. Fujimoto, “Analytical model of pipe inspection robot using flexible pneumatic cylinder,” in Proceedings of the 3rd International Conference on Intelligent Technologies and Engineering Systems (ICITES '14), vol. 345 of Lecture Notes in Electrical Engineering, pp. 325–334, Springer International Publishing, Cham, 2016. View at Publisher · View at Google Scholar
  5. J. A. Diez, F. J. Badesa, L. D. Lledó et al., “Design and development of a pneumatic robot for neurorehabilitation therapies,” in Robot 2015: Second Iberian Robotics Conference, vol. 418 of Advances in Intelligent Systems and Computing, pp. 315–326, Springer, 2016. View at Publisher · View at Google Scholar
  6. F.-Z. Low, H. H. Tan, J. H. Lim, and C.-H. Yeow, “Development of a soft pneumatic sock for robot-assisted ankle exercise,” Journal of Medical Device, vol. 10, no. 1, Article ID 014503, 2016. View at Publisher · View at Google Scholar · View at Scopus
  7. M. Ramsauer, M. Kastner, P. Ferrara, R. Naderer, and H. Gattringer, “A pneumatically driven stewart platform used as fault detection device,” Applied Mechanics and Materials, vol. 186, pp. 227–233, 2012. View at Publisher · View at Google Scholar · View at Scopus
  8. M. F. Sliva and J. A. T. Machado, “A literature review on the optimization of legged robots,” Journal of Vibration and Control, vol. 18, no. 12, pp. 1753–1761, 2011. View at Google Scholar
  9. D. Sanz-Merodio, E. Garcia, and P. Gonzalez-De-Santos, “Analyzing energy-efficient configurations in hexapod robots for demining applications,” Industrial Robot, vol. 39, no. 4, pp. 357–364, 2012. View at Publisher · View at Google Scholar · View at Scopus
  10. J. Chen, Y. Liu, J. Zhao, H. Zhang, and H. Jin, “Biomimetic design and optimal swing of a hexapod robot leg,” Journal of Bionic Engineering, vol. 11, no. 1, pp. 26–35, 2014. View at Publisher · View at Google Scholar · View at Scopus
  11. S. S. Roy and D. K. Pratihar, “Dynamic modeling of energy efficient crab walking of hexapod robot,” Applied Mechanics and Materials, vol. 110-116, pp. 2730–2739, 2012. View at Publisher · View at Google Scholar · View at Scopus
  12. S. S. Roy, P. S. Choudhury, and D. K. Pratihar, “Dynamic modeling of energy efficient hexapod robot's locomotion over gradient terrains,” in Trends in Intelligent Robotics, vol. 103, pp. 138–145, Springer, 2010. View at Publisher · View at Google Scholar
  13. S. S. Roy and D. K. Pratihar, “Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot,” Robotics and Autonomous Systems, vol. 60, no. 1, pp. 72–82, 2012. View at Publisher · View at Google Scholar · View at Scopus
  14. S. S. Roy and D. K. Pratihar, “Kinematics, dynamics and power consumption analyses for turning motion of a six-legged robot,” Journal of Intelligent & Robotic Systems, vol. 74, no. 3-4, pp. 663–688, 2014. View at Publisher · View at Google Scholar · View at Scopus
  15. M. Luneckas, T. Luneckas, D. Udris, and N. M. F. Ferreira, “Hexapod robot energy consumption dependence on body elevation and step height,” Elektronika ir Elektrotechnika, vol. 20, no. 7, pp. 7–10, 2014. View at Publisher · View at Google Scholar · View at Scopus
  16. Z. Deng, Y. Liu, L. Ding, H. Gao, H. Yu, and Z. Liu, “Motion planning and simulation verification of a hydraulic hexapod robot based on reducing energy/flow consumption,” Journal of Mechanical Science and Technology, vol. 29, no. 10, pp. 4427–4436, 2015. View at Publisher · View at Google Scholar · View at Scopus
  17. P. Gonzalez de Santos, E. Garcia, R. Ponticelli, and M. Armada, “Minimizing energy consumption in hexapod robots,” Advanced Robotics, vol. 23, no. 6, pp. 681–704, 2009. View at Publisher · View at Google Scholar · View at Scopus
  18. B. Jin, C. Chen, and W. Li, “Power consumption optimization for a hexapod walking robot,” Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 71, no. 2, pp. 195–209, 2013. View at Publisher · View at Google Scholar · View at Scopus
  19. Y. Zhu, B. Jin, W. Li, and S. Li, “Optimal design of hexapod walking robot leg structure based on energy consumption and workspace,” Transactions of Canadian Society for Mechanical Engineering, vol. 38, no. 3, pp. 305–317, 2014. View at Google Scholar
  20. T. Lee, Computational Geometric Mechanics and Control of Rigid Bodies, University of Michigan, Ann Arbor, Mich, USA, 2008.
  21. Z. Terze, A. Muller, and D. Zlatar, “Lie-group integration method for constrained multibody systems in state space,” Multibody System Dynamics, vol. 34, no. 3, pp. 275–305, 2015. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  22. S.-B. Xu, S.-B. Li, and B. Cheng, “Theory and application of Legendre pseudo-spectral method for solving optimal control problem,” Control and Decision, vol. 29, no. 12, pp. 2113–2120, 2014. View at Publisher · View at Google Scholar · View at Scopus
  23. K. Tong, J. Zhou, and L. He, “Legendre-gauss pseudospectral method for solving optimal control problem,” Acta Aeronautica et Astronautica Sinica, vol. 29, no. 6, pp. 1531–1537, 2008. View at Google Scholar · View at Scopus
  24. Y. Sun, M. R. Zhang, and X. L. Liang, “Improved Gauss pseudospectral method for solving a nonlinear optimal control problem with complex constraints,” Acta Automatica Sinica, vol. 39, no. 5, pp. 672–678, 2013. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  25. Y. Liu, Y. Zhao, J. Xu, and W. Liu, “Vehicle handling inverse dynamics based on Gauss pseudo-spectral method while encountering emergency collision avoidance,” Journal of Mechanical Engineering, vol. 48, no. 22, pp. 127–132, 2012. View at Publisher · View at Google Scholar · View at Scopus