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Motion planning and implementation for the self-recovery of an overturned multi-legged robot

Published online by Cambridge University Press:  23 December 2015

Saijin Peng ,
Xilun Ding ,
Fan Yang  and
Kun Xu
Saijin Peng
Affiliation:
School of Mechanical Engineering and Automation, Beihang University, Beijing, P. R. China E-mails: saijin.peng@buaa.edu.cn, robot.fan@me.buaa.edu.cn, xk_sea@163.com.
Xilun Ding*
Affiliation:
School of Mechanical Engineering and Automation, Beihang University, Beijing, P. R. China E-mails: saijin.peng@buaa.edu.cn, robot.fan@me.buaa.edu.cn, xk_sea@163.com.
Fan Yang
Affiliation:
School of Mechanical Engineering and Automation, Beihang University, Beijing, P. R. China E-mails: saijin.peng@buaa.edu.cn, robot.fan@me.buaa.edu.cn, xk_sea@163.com.
Kun Xu
Affiliation:
School of Mechanical Engineering and Automation, Beihang University, Beijing, P. R. China E-mails: saijin.peng@buaa.edu.cn, robot.fan@me.buaa.edu.cn, xk_sea@163.com.
*
*Corresponding author. E-mail: xlding@buaa.edu.cn
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Summary

This paper first presents a method of motion planning and implementation for the self-recovery of an overturned six-legged robot. Previous studies aimed at the static and dynamic stabilization of robots for preventing them from overturning. However, no one can guarantee that an overturn accident will not occur during various applications of robots. Therefore, the problems involving overturning should be considered and solved during robot design and control. The design inspirations of multi-legged robots come from nature, especially insects and mammals. In addition, the self-recovery approach of an insect could also be imitated by robots. In this paper, such a self-recovery mechanism is reported. The inertial forces of the dangling legs are used to bias some legs to touch the ground, and the ground reaction forces exerted on the feet of landing legs are achieved to support and push the body to enable recovery without additional help. By employing the mechanism, a self-recovery approach named SSR (Sidewise-Self-Recovery) is presented and applied to multi-legged robots. Experiments of NOROS are performed to validate the effectiveness of the self-recovery motions. The results show that the SSR is a suitable method for multi-legged robots and that the hemisphere shell of robots can help them to perform self-recovery.

Keywords

OverturnSelf-recoveryMotion planningSidewise-Self-RecoveryMulti-legged robot
Type
Articles
Information
Robotica , Volume 35 , Issue 5 , May 2017 , pp. 1107 - 1120
Copyright
Copyright © Cambridge University Press 2015 

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