Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation

Yufei Liu; Yongyao Li; Zeyuan Sun; Dongdong Zheng; Ruiwei Liu; Chao Chen; Boyang Xing; Zhirui Wang

doi:10.1007/978-981-99-6489-5_39

Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation

Yufei Liu^*, Yongyao Li, Zeyuan Sun, Dongdong Zheng, Ruiwei Liu, Chao Chen, Boyang Xing, Zhirui Wang

^*此作品的通讯作者

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

Heavy-duty robots such as hexapod and quadruped robots exhibit tremendous potential with their high payload ability and terrain adaptability. This paper introduces a slippage estimation and suppression approach for mammal type legged robot that traverses uneven and transition stage from a flat surface to sloped terrain. An optimal force allocation method under contact constraints is developed to minimize the linear and quadratic costs in the commands and constrained contact forces. Extensive experiments have been conducted, and the results have demonstrated the effectiveness of the proposed control approach.

源语言	英语
主期刊名	Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
编辑	Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhiyong Wang, Zhouping Yin, Lianqing Liu
出版商	Springer Science and Business Media Deutschland GmbH
页	484-494
页数	11
ISBN（印刷版）	9789819964888
DOI	https://doi.org/10.1007/978-981-99-6489-5_39
出版状态	已出版 - 2023
已对外发布	是
活动	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, 中国期限: 5 7月 2023 → 7 7月 2023

出版系列

姓名	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
卷	14269 LNAI
ISSN（印刷版）	0302-9743
ISSN（电子版）	1611-3349

会议

会议	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
国家/地区	中国
市	Hangzhou
时期	5/07/23 → 7/07/23

访问文件

10.1007/978-981-99-6489-5_39

其它文件与链接

链接到 Scopus 的出版物

引用此

Liu, Y., Li, Y., Sun, Z., Zheng, D., Liu, R., Chen, C., Xing, B., & Wang, Z. (2023). Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation. 在 H. Yang, J. Zou, G. Yang, X. Ouyang, H. Liu, Z. Wang, Z. Yin, & L. Liu (编辑), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (页码 484-494). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 14269 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6489-5_39

Liu, Yufei ; Li, Yongyao ; Sun, Zeyuan 等. / Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation. Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. 编辑 / Huayong Yang ; Jun Zou ; Geng Yang ; Xiaoping Ouyang ; Honghai Liu ; Zhiyong Wang ; Zhouping Yin ; Lianqing Liu. Springer Science and Business Media Deutschland GmbH, 2023. 页码 484-494 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{d25244f7361e4ee99846d8ecfb3a9683,

title = "Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation",

abstract = "Heavy-duty robots such as hexapod and quadruped robots exhibit tremendous potential with their high payload ability and terrain adaptability. This paper introduces a slippage estimation and suppression approach for mammal type legged robot that traverses uneven and transition stage from a flat surface to sloped terrain. An optimal force allocation method under contact constraints is developed to minimize the linear and quadratic costs in the commands and constrained contact forces. Extensive experiments have been conducted, and the results have demonstrated the effectiveness of the proposed control approach.",

keywords = "Heavy-duty robots, Optimal force allocation, Slippage estimation and suppression",

author = "Yufei Liu and Yongyao Li and Zeyuan Sun and Dongdong Zheng and Ruiwei Liu and Chao Chen and Boyang Xing and Zhirui Wang",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

year = "2023",

doi = "10.1007/978-981-99-6489-5_39",

language = "English",

isbn = "9789819964888",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "484--494",

editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhiyong Wang and Zhouping Yin and Lianqing Liu",

booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",

address = "Germany",

}

Liu, Y, Li, Y, Sun, Z, Zheng, D, Liu, R, Chen, C, Xing, B & Wang, Z 2023, Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation. 在 H Yang, J Zou, G Yang, X Ouyang, H Liu, Z Wang, Z Yin & L Liu (编辑), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 卷 14269 LNAI, Springer Science and Business Media Deutschland GmbH, 页码 484-494, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, 中国, 5/07/23. https://doi.org/10.1007/978-981-99-6489-5_39

Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation. / Liu, Yufei; Li, Yongyao; Sun, Zeyuan 等.
Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. 编辑 / Huayong Yang; Jun Zou; Geng Yang; Xiaoping Ouyang; Honghai Liu; Zhiyong Wang; Zhouping Yin; Lianqing Liu. Springer Science and Business Media Deutschland GmbH, 2023. 页码 484-494 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 14269 LNAI).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation

AU - Liu, Yufei

AU - Li, Yongyao

AU - Sun, Zeyuan

AU - Zheng, Dongdong

AU - Liu, Ruiwei

AU - Chen, Chao

AU - Xing, Boyang

AU - Wang, Zhirui

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

PY - 2023

Y1 - 2023

N2 - Heavy-duty robots such as hexapod and quadruped robots exhibit tremendous potential with their high payload ability and terrain adaptability. This paper introduces a slippage estimation and suppression approach for mammal type legged robot that traverses uneven and transition stage from a flat surface to sloped terrain. An optimal force allocation method under contact constraints is developed to minimize the linear and quadratic costs in the commands and constrained contact forces. Extensive experiments have been conducted, and the results have demonstrated the effectiveness of the proposed control approach.

AB - Heavy-duty robots such as hexapod and quadruped robots exhibit tremendous potential with their high payload ability and terrain adaptability. This paper introduces a slippage estimation and suppression approach for mammal type legged robot that traverses uneven and transition stage from a flat surface to sloped terrain. An optimal force allocation method under contact constraints is developed to minimize the linear and quadratic costs in the commands and constrained contact forces. Extensive experiments have been conducted, and the results have demonstrated the effectiveness of the proposed control approach.

KW - Heavy-duty robots

KW - Optimal force allocation

KW - Slippage estimation and suppression

UR - http://www.scopus.com/inward/record.url?scp=85176017731&partnerID=8YFLogxK

U2 - 10.1007/978-981-99-6489-5_39

DO - 10.1007/978-981-99-6489-5_39

M3 - Conference contribution

AN - SCOPUS:85176017731

SN - 9789819964888

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 484

EP - 494

BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

A2 - Yang, Huayong

A2 - Zou, Jun

A2 - Yang, Geng

A2 - Ouyang, Xiaoping

A2 - Liu, Honghai

A2 - Wang, Zhiyong

A2 - Yin, Zhouping

A2 - Liu, Lianqing

PB - Springer Science and Business Media Deutschland GmbH

T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

Y2 - 5 July 2023 through 7 July 2023

ER -

Liu Y, Li Y, Sun Z, Zheng D, Liu R, Chen C 等. Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation. 在 Yang H, Zou J, Yang G, Ouyang X, Liu H, Wang Z, Yin Z, Liu L, 编辑, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. 页码 484-494. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6489-5_39

Research on Foot Slippage Suppression of Mammal Type Legged Robot based on Optimal Force Allocation

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