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A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain

The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information tha...

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Detalles Bibliográficos
Autores principales: Zhang, He, Wu, Rui, Li, Changle, Zang, Xizhe, Zhang, Xuehe, Jin, Hongzhe, Zhao, Jie
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2017
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5539746/
https://www.ncbi.nlm.nih.gov/pubmed/28654003
http://dx.doi.org/10.3390/s17071514
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author Zhang, He
Wu, Rui
Li, Changle
Zang, Xizhe
Zhang, Xuehe
Jin, Hongzhe
Zhao, Jie
author_facet Zhang, He
Wu, Rui
Li, Changle
Zang, Xizhe
Zhang, Xuehe
Jin, Hongzhe
Zhao, Jie
author_sort Zhang, He
collection PubMed
description The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information that can help the robot understand the unstructured terrain that it interacts with. This study introduces a complicated leg force sensing system for a hexapod robot that is the same for all six legs. First, the layout and configuration of sensing system are designed according to the structure and sizes of legs. Second, the joint toque sensors, 3-DOF foot-end force sensor and force information processing module are designed, and the force sensor performance parameters are tested by simulations and experiments. Moreover, a force sensing system is implemented within the robot control architecture. Finally, the experimental evaluation of the leg force sensor system on the hexapod robot is discussed and the performance of the leg force sensor system is verified.
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spelling pubmed-55397462017-08-11 A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain Zhang, He Wu, Rui Li, Changle Zang, Xizhe Zhang, Xuehe Jin, Hongzhe Zhao, Jie Sensors (Basel) Article The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information that can help the robot understand the unstructured terrain that it interacts with. This study introduces a complicated leg force sensing system for a hexapod robot that is the same for all six legs. First, the layout and configuration of sensing system are designed according to the structure and sizes of legs. Second, the joint toque sensors, 3-DOF foot-end force sensor and force information processing module are designed, and the force sensor performance parameters are tested by simulations and experiments. Moreover, a force sensing system is implemented within the robot control architecture. Finally, the experimental evaluation of the leg force sensor system on the hexapod robot is discussed and the performance of the leg force sensor system is verified. MDPI 2017-06-27 /pmc/articles/PMC5539746/ /pubmed/28654003 http://dx.doi.org/10.3390/s17071514 Text en © 2017 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Zhang, He
Wu, Rui
Li, Changle
Zang, Xizhe
Zhang, Xuehe
Jin, Hongzhe
Zhao, Jie
A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain
title A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain
title_full A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain
title_fullStr A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain
title_full_unstemmed A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain
title_short A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain
title_sort force-sensing system on legs for biomimetic hexapod robots interacting with unstructured terrain
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5539746/
https://www.ncbi.nlm.nih.gov/pubmed/28654003
http://dx.doi.org/10.3390/s17071514
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