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ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot

Yıl 2018, Cilt: 7 Sayı: 2, 35 - 46, 28.08.2018

Öz

In the walking control
algorithms, if standard gaits are used, many dynamic effects such as inertial
effects, external forces (gravity and friction) are neglected. Furthermore,
neglecting dynamic effects does not have much effect on walking performance if
masses of robot parts are not too large. On the other hand, as the size of the
robot is increased, the masses of the parts will also increase, so dynamic
effects will not able to be ignored. Open Dynamics Engine (ODE) is the most
popular rigid-body dynamics simulation algorithm in robotic applications. The
use of ODE in a real-time model-based control allows the dynamic effects to
take into account during the walk. In this study, an ODE based walking control
of a six-legged mobile robot was performed and the balancing performance for 5
step linear trajectory of three different gaits (tripod-quadruped-tetrapod) has
given in results.

Kaynakça

  • B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control: Springer London, 2010
  • Baumgarte, J. Stabilization of constraints and integrals of motion in dynamical systems Computer Methods in Applied Mechanics and Engineering, 1972, 1, 1 – 16
  • Blickhan, R. and Full, R. 1993. Similarity in multilegged locomotion: Bouncing like a monopode. J. Comp. Physiol., A 173:509–517.
  • De Santos, P. G.; Garcia, E. & Estremera, J. Quadrupedal locomotion: an introduction to the control of four-legged robots Springer Science & Business Media, 2007
  • Erden, Mustafa Suphi, and Kemal Leblebicioğlu. "Free gait generation with reinforcement learning for a six-legged robot." Robotics and Autonomous Systems 56.3 (2008): 199-212.
  • Galt, S., et al. (1997). A tele-operated semi-intelligent climbing robot for nuclear applications. Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on, IEEE.
  • Huang, Qing-Jiu, and Kenzo Nonami. "Humanitarian mine detecting six-legged walking robot and hybrid neuro walking control with position/force control." Mechatronics 13.8 (2003): 773-790
  • Hsu, J. M. & Peters, S. C. Brugali, D.; Broenink, J. F.; Kroeger, T. & MacDonald, B. A. (Eds.) Extending Open Dynamics Engine for the DARPA Virtual Robotics Challenge Simulation, Modeling, and Programming for Autonomous Robots: 4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014. Proceedings, Springer International Publishing, 2014, 37-48
  • Inagaki, Shinkichi, et al. "Wave CPG model for autonomous decentralized multi-legged robot: Gait generation and walking speed control." Robotics and Autonomous Systems 54.2 (2006): 118-126.
  • Kuffner, James J., et al. "Dynamically-stable motion planning for humanoid robots." Autonomous Robots 12.1 (2002): 105-118.
  • Mei, Yongguo, et al. "Energy-efficient motion planning for mobile robots." Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on. Vol. 5. IEEE, 2004.
  • N. Koenig and A. Howard, "Design and use paradigms for Gazebo, an open-source multi-robot simulator," 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2004, pp. 2149-2154 vol.3.
  • O. Michel, "Cyberbotics Ltd. WebotsTM: Professional Mobile Robot Simulation " International Journal of Advanced Robotic Systems, vol. 1, pp. 39-42, 2004.
  • Pratihar, Dilip Kumar, Kalyanmoy Deb, and Amitabha Ghosh. "Optimal path and gait generations simultaneously of a six-legged robot using a GA-fuzzy approach." Robotics and Autonomous Systems 41.1 (2002): 1-20.
  • Silcowitz, M.; Niebe, S. & Erleben, K. Richard, P. & Braz, J. (Eds.) Interactive Rigid Body Dynamics Using a Projected Gauss--Seidel Subspace Minimization Method Computer Vision, Imaging and Computer Graphics. Theory and Applications: International Joint Conference, VISIGRAPP 2010, Angers, France, May 17-21, 2010. Revised Selected Papers, Springer Berlin Heidelberg, 2011, 218-229
  • Song, Shin-Min, et al. "Computer-aided design of a leg for an energy efficient walking machine." Mechanism and machine theory 19.1 (1984): 17-24.
  • U. S. A. T. C. D. Agency, Logistical Vehicle Off-road Mobility: Final Report: U.S. Army, Transportation Combat Developments Agency, 1963.
  • Vukobratovic M., Stepanenko Yu.,1972, “On the Stability of Anthromorphic Systems”, Mathematical Biosciences, Vol. 15, pp.1-37
  • Yildirim Ş., Arslan E., "Estimation of Contact Forces on Real-time Six Legged Mobile Robot with ODE (Open Dynamics Engine)", International Conference on Advances in Mechanical Engineering ICAME 2016, ISTANBUL, TÜRKIYE, 10-13 May 2016, pp.185-190.
Yıl 2018, Cilt: 7 Sayı: 2, 35 - 46, 28.08.2018

Öz

Kaynakça

  • B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control: Springer London, 2010
  • Baumgarte, J. Stabilization of constraints and integrals of motion in dynamical systems Computer Methods in Applied Mechanics and Engineering, 1972, 1, 1 – 16
  • Blickhan, R. and Full, R. 1993. Similarity in multilegged locomotion: Bouncing like a monopode. J. Comp. Physiol., A 173:509–517.
  • De Santos, P. G.; Garcia, E. & Estremera, J. Quadrupedal locomotion: an introduction to the control of four-legged robots Springer Science & Business Media, 2007
  • Erden, Mustafa Suphi, and Kemal Leblebicioğlu. "Free gait generation with reinforcement learning for a six-legged robot." Robotics and Autonomous Systems 56.3 (2008): 199-212.
  • Galt, S., et al. (1997). A tele-operated semi-intelligent climbing robot for nuclear applications. Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on, IEEE.
  • Huang, Qing-Jiu, and Kenzo Nonami. "Humanitarian mine detecting six-legged walking robot and hybrid neuro walking control with position/force control." Mechatronics 13.8 (2003): 773-790
  • Hsu, J. M. & Peters, S. C. Brugali, D.; Broenink, J. F.; Kroeger, T. & MacDonald, B. A. (Eds.) Extending Open Dynamics Engine for the DARPA Virtual Robotics Challenge Simulation, Modeling, and Programming for Autonomous Robots: 4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014. Proceedings, Springer International Publishing, 2014, 37-48
  • Inagaki, Shinkichi, et al. "Wave CPG model for autonomous decentralized multi-legged robot: Gait generation and walking speed control." Robotics and Autonomous Systems 54.2 (2006): 118-126.
  • Kuffner, James J., et al. "Dynamically-stable motion planning for humanoid robots." Autonomous Robots 12.1 (2002): 105-118.
  • Mei, Yongguo, et al. "Energy-efficient motion planning for mobile robots." Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on. Vol. 5. IEEE, 2004.
  • N. Koenig and A. Howard, "Design and use paradigms for Gazebo, an open-source multi-robot simulator," 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2004, pp. 2149-2154 vol.3.
  • O. Michel, "Cyberbotics Ltd. WebotsTM: Professional Mobile Robot Simulation " International Journal of Advanced Robotic Systems, vol. 1, pp. 39-42, 2004.
  • Pratihar, Dilip Kumar, Kalyanmoy Deb, and Amitabha Ghosh. "Optimal path and gait generations simultaneously of a six-legged robot using a GA-fuzzy approach." Robotics and Autonomous Systems 41.1 (2002): 1-20.
  • Silcowitz, M.; Niebe, S. & Erleben, K. Richard, P. & Braz, J. (Eds.) Interactive Rigid Body Dynamics Using a Projected Gauss--Seidel Subspace Minimization Method Computer Vision, Imaging and Computer Graphics. Theory and Applications: International Joint Conference, VISIGRAPP 2010, Angers, France, May 17-21, 2010. Revised Selected Papers, Springer Berlin Heidelberg, 2011, 218-229
  • Song, Shin-Min, et al. "Computer-aided design of a leg for an energy efficient walking machine." Mechanism and machine theory 19.1 (1984): 17-24.
  • U. S. A. T. C. D. Agency, Logistical Vehicle Off-road Mobility: Final Report: U.S. Army, Transportation Combat Developments Agency, 1963.
  • Vukobratovic M., Stepanenko Yu.,1972, “On the Stability of Anthromorphic Systems”, Mathematical Biosciences, Vol. 15, pp.1-37
  • Yildirim Ş., Arslan E., "Estimation of Contact Forces on Real-time Six Legged Mobile Robot with ODE (Open Dynamics Engine)", International Conference on Advances in Mechanical Engineering ICAME 2016, ISTANBUL, TÜRKIYE, 10-13 May 2016, pp.185-190.
Toplam 19 adet kaynakça vardır.

Ayrıntılar

Bölüm Articles
Yazarlar

Erdem Arslan

Şahin Yıldırım

Yayımlanma Tarihi 28 Ağustos 2018
Yayımlandığı Sayı Yıl 2018 Cilt: 7 Sayı: 2

Kaynak Göster

APA Arslan, E., & Yıldırım, Ş. (2018). ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot. Journal of New Results in Science, 7(2), 35-46.
AMA Arslan E, Yıldırım Ş. ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot. JNRS. Ağustos 2018;7(2):35-46.
Chicago Arslan, Erdem, ve Şahin Yıldırım. “ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot”. Journal of New Results in Science 7, sy. 2 (Ağustos 2018): 35-46.
EndNote Arslan E, Yıldırım Ş (01 Ağustos 2018) ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot. Journal of New Results in Science 7 2 35–46.
IEEE E. Arslan ve Ş. Yıldırım, “ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot”, JNRS, c. 7, sy. 2, ss. 35–46, 2018.
ISNAD Arslan, Erdem - Yıldırım, Şahin. “ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot”. Journal of New Results in Science 7/2 (Ağustos 2018), 35-46.
JAMA Arslan E, Yıldırım Ş. ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot. JNRS. 2018;7:35–46.
MLA Arslan, Erdem ve Şahin Yıldırım. “ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot”. Journal of New Results in Science, c. 7, sy. 2, 2018, ss. 35-46.
Vancouver Arslan E, Yıldırım Ş. ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot. JNRS. 2018;7(2):35-46.


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