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System and Walking Gait Design for Hexapod Search and Rescue Robot Chen Yang-Yang and Huang Yingying Abstract In order to adapt to the complex disaster environment, this paper con- siders the system design of hexapod search and rescue robot. Such hexapod robot is suitable to different kinds of roads and obstacle, which can avoid to the short- comings of crawler robots. This hexapod search and rescue robot includes the six foot body, voice modular, obstacle avoidance and remote monitoring function. Based on the relationship between the center of gravity and the supporting polygon, the design of the hexagon robots walking gait is presented. The feasibility of the hexapod search and rescue robot is verifi ed by the prototype experiment. Keywords Hexapod search and rescue robotThe design of walking gait Prototype experiment 1Introduction Robotics is an important signs to measuring a countrys science and technology innovation and high level of manufacturing development. In 2016, “robot industry development plan” is promulgated by National Development and Reform Com- mission. As a main direction of robotics, search and rescue robot has received extensive attention in the past 10 years. C. Yang-Yang () School of Automation, Southeast University, Nanjing 210096, China e-mail: C. Yang-Yang Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China H. Yingying School of Electronic Science and Engineering, Southeast University, Nanjing 2017514, China e-mail: 213131866 Springer Nature Singapore Pte Ltd. 2018 Y. Jia et al. (eds.), Proceedings of 2017 Chinese Intelligent Systems Conference, Lecture Notes in Electrical Engineering 460, /10.1007/978-981-10-6499-9_62 647 Traditional search and rescue robots are mostly used the crawler robot due to its low unit pressure on the ground and the traction reserve index on the weak carrying ground. United States IRobot company gives Packbot 1 series of crawler robots which have fi nned track structure and fi rst use the modular design. Thus such robots become one of the classic design in the world. In order to develop the robots environmental adaptability, Inuktuns VGTV 2 changes the track shape of the crawler robot. However, crawler robots often stick and slip even worn in the practice 3. Also, crawler robots have a larger size and thus have greater damage to the ground when turning. There is a trend to use the hexapod robot to replace the crawler type. Compared to the crawler type, the hexapod robot can cross through more rugged terrain and higher obstacles due to its discrete contact and it also has good mobility, energy consumption and independent isolation. In 1985, Robert B. McGhee et al. developed the adaptive suspension vehicle ASV 4 by using the leg structure, which can be regarded as one of the ancestors of six foot robot. NASAs Jet Propulsion Laboratory presents ATHLETE 57 for aerospace cargo transport. The domestic research for walking robots start relatively late. Shanghai University developed a spherical wall crawling robot 8. Shanghai Jiao Tong University considered the design of “six-feet octopus” rescue robot 9. Compared to the foreign application hexapod robot, there are also many technical challenges to overcome in the fi eld of hexapod search and rescue robot at home. In this paper, we consider the system design of hexapod search and rescue robot. In order to achieve the search and rescue mission in the complex environment, we not only give the hardware and software design of six-legged body, but also add voice modular and remote monitoring function for human-computer interaction and obstacle avoidance by using ultrasonic and infrared sensors. Note that the robots center of gravity is unstable in the slope and step environment, we discuss the initial layout of the leg at the time of slope travel and the six-legged sequence in the step according the infl uence of the relationship between the polygon and the center of gravity to the robot stability. Finally, two the prototype experiments are given to verify the feasibility of the gait in slope and step. 2System Description Since the search and rescue robot is required to have excellent adaptability for the environment, the design of the six-legged robot should not only have a fl exible six-legged body, but also include automatically avoid or cross the obstacles and communicate with the operator. Therefore, the overall design for our search and rescue robot is listed as Fig. 1. In Fig. 1, the key of system is the embedded board, which includes the gait control algorithm of 18 electric machineries for servicing the motion of six legs, obstacle avoidance algorithm according to the distance measurements by ultrasonic and infrared sensors, voice recognition module for dealing with the decision makers demands and image compression and transmis- sion supplying to the decision makers. From the hardware point of view to achieve 648C. Yang-Yang and H. Yingying the above functions, we use the wrap-around layout for the six-legged robot, that is six legs are installed on the hexagonal vertices of octagon and each leg are con- trolled by three digital servos. The ultrasonic (HC-SR04) and infrared sensors are located at the front face of the robot and the WIFI camera is mounted at the top of the robot. The voice recognition module (LD3320 chip) and the video transmission module (Qualcomm AR9331 chip) line to our main control module (Arduino Pro mini which core chip is ATmega168). The details can be found in Fig. 2. To make rational use of hardware resources, the responding software fl ow is listed in Fig. 3. At the beginning, the voice recognition module is in the standby state. When it receives the command issued by the decision makers, the module uses the Voice. Read function to identify whether the instruction command match with the library, if not match the module keeps standby, else sends instruction to the steering control module. Next, the gait algorithms are chosen based on the distance values coming from ultrasonic and infrared sensors and then drive the digital servo. At last, the software drives the WIFIcam to record the picture and translates the picture to the decision markers. It should be emphasized that we determine the slope or the step by using the different high position between the infrared sensor and the ultrasonic sensor and their measurements. Fig. 1 Six-legged robot system System and Walking Gait Design for Hexapod Search 649 Fig. 2 Hardware design Fig. 3 Software fl ow 650C. Yang-Yang and H. Yingying 3Gait Control According to the difference of the supporting feet, the gait of six-legged robot can divide into the triangular, fl uctuating and quadruped gait. Triangle gait is the most fl exible and fastest among the three gaits. Fluctuation gait is slowest but in good stability while quadruped gait has intermediate performance between triangle gait and fl uctuation gait. Considering the practicability of robot, the six-legged robot uses the triangle gait when it moves on the fl at ground. Noting that the movement on the ground can also be applied to slopes with the small slope angle 30, we follow the triangle gait when the six-legged robot moves on some slopes with its slope angle 0, the robot is stable, otherwise unstable. In the following, we will show the best swing angles of front legs according to the simulation results of iG. The wide and high of our prototype are 12 cm and 12 cm, respectively. The gravity center of robot is 6 cm from the ground, and the distance from the toes to the center is 14 cm when it stands. The details can be found in Fig. 7. In the slope state, the six-legged robot can improve the stability by changing the position of the support point relative to the fuselage. It is hard to analyze the relationship between the stability and the position of the support point. Since the position of the support point depends on the angle of the hip joint, we will show the relationship between the stability and the angle of the hip joint by simulations. Restricted by mechanical structure, the swing angle of each middle leg (that is 2, 5) is limited in 60,60 while the swing angle range of each front/rear leg (that is 1,4/3,6) is 30,90. Taking the triangle formed by 2,4,6 as a example, Figs. 8, 9 and 10 show 2,4G,4,6Gand 6,2G, respectively. From these pictures, one can see that the best swing angles of legs 1w=6w=15, 2w=5w=30and 3w=4w=45. Fig. 7 Prototype of robot System and Walking Gait Design for Hexapod Search 653 3.3Step Gait Design When the six-legged robot crosses the step, the quadruped gait is used. In the quadruped gait, the robot divides the six feet into three groups, that is the front legs (that is 1,4), the middle legs (that is 2,5) and the rear legs (that is 3,6). The three groups are rotated in the order such the front legs, the middle legs and the rear legs. The phase diagram of the quadruped gait is shown in Fig. 11. From this picture, one can see that there are always four legs in the support phase at one time. During the gait cycle, the support phase occupies 2T/3 and the swing phase occupies T/3, which means the coverage factor is 2/3. Fig. 8 Plot of 2,4G Fig. 9 Plot of 4,6G 654C. Yang-Yang and H. Yingying When the six-legged robot moves in the quadruped gait, the worst body stability appears in the situation that the front or hind legs lift up. Let the front legs in the swing phase as a case. If the middle and rear legs are in the support phase robot and the quadrilateral consisting of four vertices corresponding to legs cannot exceed the center line of the body, then the robot body is stable (see Fig. 12). From above discussion, the step gait design is given as follows: (a) Front leg swings to the head, middle foot remain intact, and rear foot rotates to tail in support phase to promote the body forward; (b) Front foot down, middle foot rotates to tail in support phase to promote the forward, and rear foot swings to the head; (c) Front foot rotates to tail in support phase to promote the body forward, middle foot swings to the head, and rear foot down to support. Fig. 10 Plot of 6,2G Fig. 11 Quadruple gait phase diagram System and Walking Gait Design for Hexapod Search 655 4Experimental Results In this section, two experimental results are given. One is the movement of pro- totype on the outdoor slope, the other is the movement of prototype on the steps. In case 1, the slope angle is about 30 and its height is less than 1 cm that has no effectonthesix-leggedrobot.Theinitialanglesofsixlegsare 1w=6w=15, 2w=5=30, 3w=4w=45. The movement of prototype on the outdoor slope is given in Fig. 13. From this picture, one can obviously see that our prototype robot can move on the outdoor slope smoothly and rapidly. In case 2, we use the table to build a step such that the step height is 3 cm and its width 5 cm. The movement of prototype on the steps is shown in Fig. 14. From this picture, it is obvious that our prototype robot can cross the steps easily. Fig. 12 Six-foot robots support polygons Fig. 13 The movement on the outdoor slope 656C. Yang-Yang and H. Yingying 5Conclusion This paper presents the software and hardware design of the six-legged robot. We give experimental results for proving the gait design. In ongoing research, we will devote to the feedback control of the gaits. Acknowledgements This work is supported by National Natural Science Foundation (NNSF) of China under Grant 61673106, Natural Science Foundation of Jiangsu Province under Grant BK20171362, the Fundamental Research Funds for the Central Universities and in part by a Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions. References 1. Yamauch IB. Packbot: a versatile platform for mil
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