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Modeling and Optimal Control of Rescue Quadruped Robot with High Payload

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Mechanism and Machine Science (ASIAN MMS 2016, CCMMS 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 408))

Abstract

Timely and efficient rescue missions in nuclear power plant accidents require operating robots to work under high payload typically more than 300 lb. Dynamics of the high payload quadruped robots driven by hydraulic cylinder with parallel designed legs are typically studied by commercial software due to its complexity to establish proper models. This paper proposes a kinematics model and an approximate dynamics model to describe the velocity and the force of the hydraulic cylinder, which are then used to characterize the energy requirement for rescuing walking performance. Furthermore, the models are used to optimally design the step length and height in robot rescue mission that balances the trade off between the energy consumption in robotic motion due to limited battery capacity and the requirement for timely rescuing. We applied Nelder-Mead algorithm to solve for the optimal pair of length and height.

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Acknowledgments

This work is supported by National Basic Research Program of China (973 Program-2013CB035500), China Scholarship Council, and the National Nature Science Foundation of China (61233004, 61221003, 61074061, 61104091).

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Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

    Nan Hu & Shaoyuan Li

  2. School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, 200240, China

    Dan Huang

  3. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Feng Gao

Authors
  1. Nan Hu
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  2. Shaoyuan Li
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  3. Dan Huang
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  4. Feng Gao
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Corresponding author

Correspondence to Shaoyuan Li .

Editor information

Editors and Affiliations

  1. South China University of Technology , Guangzhou, China

    Xianmin Zhang

  2. South China University of Technology , Guangzhou, China

    Nianfeng Wang

  3. South China University of Technology , Guangzhou, China

    Yanjiang Huang

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Hu, N., Li, S., Huang, D., Gao, F. (2017). Modeling and Optimal Control of Rescue Quadruped Robot with High Payload. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_43

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  • DOI: https://doi.org/10.1007/978-981-10-2875-5_43

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2874-8

  • Online ISBN: 978-981-10-2875-5

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