Over the past decades, developments and scientific breakthroughs in the field of robotics have shown the replacement of wheeled robots with legged robots, which are often inspired by the biological characteristics of legged animals. Many industries and urban‐based applications promote quadruped robots because of their dexterous ability to efficiently handle multiple tasks in the work-ing environment. Motivated from the recent works in the field of quadruped robots, this research aims to develop and investigate gaits for a 2 DoF mammal‐inspired quadruped robot that incorpo-rates 4 hip and 4 knee servo motors as its locomotion element. Forward and inverse kinematic techniques are used to determine the joint angle required for the locomotion and stability calculation are presented to determine the center of mass/center of gravity of the robot. Three types of gaits such as walk, trot, and pace are developed while keeping the center of mass inside the support polygon using a closed‐loop control system. To minimize errors and improve the performance of the robot due to its non‐linearity, a meta‐heuristic algorithm has been developed and addressed in this work. The fitness function is derived based on the Euclidean distance between the target and robot’s current position and kinematic equations are used to obtain the relation between joints and coordinates. Based on the literature, particle swarm optimization (PSO) was found to be a promising algorithm for this problem and is developed using Python’s ‘Pyswarms’ package. Experimental studies are carried out quantitatively to determine the convergence characteristics of the control algorithm and to investigate the distance traveled by the robot for different target positions and gaits. Comparison between experimental and theoretical results prove the efficiency of the pro-posed algorithm and stability of the robot during various gait movements.


    Access

    Download


    Export, share and cite



    Title :

    Valkyrie—design and development of gaits for quadruped robot using particle swarm optimization



    Publication date :

    2021-08-02


    Remarks:

    Srinivas , T , Madhusudhan , A K K , Manohar , L , Pushpagiri , N M S , Ramanathan , K C , Janardhanan , M & Nielsen , I 2021 , ' Valkyrie—design and development of gaits for quadruped robot using particle swarm optimization ' , Applied Sciences (Switzerland) , vol. 11 , no. 16 , 7458 . https://doi.org/10.3390/app11167458



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Optimum Quadruped Creeping Gaits

    R. B. McGhee / A. A. Frank | NTIS | 1968


    Honda Valkyrie Rune

    Fujimoto,A. / Honda Motor,JP | Automotive engineering | 2003


    Honda Valkyrie

    Honda Motor,JP | Automotive engineering | 1996


    On the Stability Properties of Quadruped Creeping Gaits

    R. B. McGhee / A. A. Frank | NTIS | 1968


    Research on Motion Control of a Small Quadruped Robot with Multiple Gaits

    Li, Shuo / Zhang, Wenliang / Ye, Si et al. | IEEE | 2023