Chinese Journal of Mechanical Engineering >

2017 , Vol. 30 >Issue 5: 1227 - 1238

DOI: https://doi.org/10.1007/s10033-017-0172-7

ORIGINAL ARTICLE

Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing

  • Zhi-Jun Chen ,
  • Feng Gao ,
  • Yang Pan
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  • 1 State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China;
    2 Shanghai GQY Robot Limited Company, Shanghai 201206, China

收稿日期: 2016-06-25

  修回日期: 2017-07-20

  网络出版日期: 2019-07-16

基金资助

Supported by National Natural Science Foundation of China (Grant Nos. U1613208, 51335007), National Basic Research Program of China (973 Program, Grant No. 2013CB035501), Science Fund for Creative Research Groups of the National Natural Science Foundation of China (Grant No. 51421092), and Science and Technology Commission of Shanghai-based "Innovation Action Plan" Project (Grant No. 16DZ1201001).

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Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing

  • Zhi-Jun Chen ,
  • Feng Gao ,
  • Yang Pan
Expand
  • 1 State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China;
    2 Shanghai GQY Robot Limited Company, Shanghai 201206, China

Received date: 2016-06-25

  Revised date: 2017-07-20

  Online published: 2019-07-16

Supported by

Supported by National Natural Science Foundation of China (Grant Nos. U1613208, 51335007), National Basic Research Program of China (973 Program, Grant No. 2013CB035501), Science Fund for Creative Research Groups of the National Natural Science Foundation of China (Grant No. 51421092), and Science and Technology Commission of Shanghai-based "Innovation Action Plan" Project (Grant No. 16DZ1201001).

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摘要

Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and implemented to the six-parallel-legged robot. The kinematic model of the six-parallel-legged robot is established and the model of measuring the positional relationship between the robot and the door is proposed. The measurement model is completely based on only force sensing. The realtime trajectory planning method and the control strategy are designed. The trajectory planning method allows the maximum angle between the sagittal axis of the robot body and the normal line of the door plane to be 458. A 0-DOF tool mounted to the robot body is applied to operate. By integrating with the body, the tool has 6 DOFs and enough workspace to operate. The loose grasp achieved by the tool helps release the inner force in the tool. Experiments are carried out to validate the method. The results show that the method is effective and robust in opening doors wider than 1 m. This paper proposes a novel door-opening method for six-legged robots, which notably uses a 0-DOF tool and only force sensing to detect and open the door.

关键词： Door-opening; Six-legged robots; Force sensing; 0-DOF tool

本文引用格式

Zhi-Jun Chen , Feng Gao , Yang Pan . Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing[J]. Chinese Journal of Mechanical Engineering, 2017 , 30(5) : 1227 -1238 . DOI: 10.1007/s10033-017-0172-7

Abstract

Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and implemented to the six-parallel-legged robot. The kinematic model of the six-parallel-legged robot is established and the model of measuring the positional relationship between the robot and the door is proposed. The measurement model is completely based on only force sensing. The realtime trajectory planning method and the control strategy are designed. The trajectory planning method allows the maximum angle between the sagittal axis of the robot body and the normal line of the door plane to be 458. A 0-DOF tool mounted to the robot body is applied to operate. By integrating with the body, the tool has 6 DOFs and enough workspace to operate. The loose grasp achieved by the tool helps release the inner force in the tool. Experiments are carried out to validate the method. The results show that the method is effective and robust in opening doors wider than 1 m. This paper proposes a novel door-opening method for six-legged robots, which notably uses a 0-DOF tool and only force sensing to detect and open the door.

Key words： Door-opening; Six-legged robots; Force sensing; 0-DOF tool

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