Modeling and Simulation of a Jumping Four-legged Robot on Staircases

Subject Areas : robotics

Mehrdad NaghshNilchi ¹ , Mohammad Saadat ^{2 *} , Ali Soleimani ³ , میثم وهابی ⁴ , Mehdi Salehi ⁵

1 - Faculty of Engineering, NajafAbad , Isfahan, Iran
2 - Department of engineering, Najafabad branch, Islamic Azad university
3 - Department of mechanical engineering, Najafabad branch, Islamic Azad university, Najafabad, Iran
4 - عضو هیأت علمی گروه مهندسی مکانیک دانشکده فنی و مهندسی دانشگاه آزاد اسلامی واحد نجف آباد
5 - Department of Mechanical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran

Received: 2024-06-08 Accepted : 2025-09-24 Published : 2025-12-16

Keywords: Four-legged robot, Robot jump, Stairs, Robot energy consumption,

Abstract :

Many animals utilize jumping as a means of traversing uneven terrain in nature. In fact, animal jumping enables them to overcome obstacles that exceed their body size .Today, there is a clear need for mobile robots that can perform human missions in complex environments instead of humans. Performing these tasks by humans is either risky or costly. Legged robots are more capable of performing missions than wheeled robots. The mechanism of these robots allows them to traverse inaccessible surfaces. In this paper, a two-dimensional four-legged robot model has been introduced. In the next step, the four-legged robot and the walking path are simulated using Adams software. All the physical properties of the four-legged robot, as well as parameters related to jumping, are inputted into the software. Following that, the simulated model is implemented in Adams software, and the four-legged robot jumps on the stairs. The Adams software is used to review jumping path diagrams, robot joint changes, contact forces, as well as kinetic and potential energy.

References:

[1] Zaitsev V., Gvirsman O., Hanan U. B., Weiss A., Ayali A., Kosa G. A locust-inspired miniature jumping robot. Bioinspiration & Biomimetics. 2015;10 (6): 066012. DOI: http://dx.doi.org/ 10.1088/1748-3190/10/6/066012.
[2] Hereid A, Harib O, Hartley R, Gong Y, Grizzle JW. Rapid trajectory optimization using c-frost with illustration on a cassie-series dynamic walking biped. In2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019 Nov 3 (pp. 4722-4729). IEEE.
[3] Chestnutt J, Lau M, Cheung G, Kuffner J, Hodgins J, Kanade T. Footstep planning for the tili asimo humanoid. InProceedings of the 2005 IEEE international conference on robotics and automation 2005 Apr 18 (pp. 629-634). IEEE.
[4] Chestnutt J, Lau M, Cheung G, Kuffner J, Hodgins J, Kanade T. Footstep planning for the tili asimo humanoid. InProceedings of the 2005 IEEE international conference on robotics and automation 2005 Apr 18 (pp. 629-634). IEEE.
[5] Chestnutt J, Lau M, Cheung G, Kuffner J, Hodgins J, Kanade T. Footstep planning for the tili asimo humanoid. InProceedings of the 2005 IEEE international conference on robotics and automation 2005 Apr 18 (pp. 629-634). IEEE.
[6] Bledt G, Powell MJ, Katz B, Di Carlo J, Wensing PM, Kim S. MIT Cheetah 3: Design and control of a robust, dynamic quadruped robot. In2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018 Oct 1 (pp. 2245-2252). IEEE.
[7] Liao T, Ye S, Chen L, Sun C, Zhang A. Energy efficient swing leg trajectory planning for quadruped robots walking on rough terrain. In2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) 2019 Dec 6 (pp. 2128-2133). IEEE.
[8] McGuire KN, De Wagter C, Tuyls K, Kappen HJ, de Croon GC. Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment. Science Robotics. 2019 Oct 23;4(35):eaaw9710.
[9] Zhang G, Rong X, Hui C, Li Y, Li B. Torso motion control and toe trajectory generation of a trotting quadruped robot based on virtual model control. Advanced Robotics. 2016 Feb 16;30(4):284-97.
[10] Ye L, Liu H, Wang X, Liang B, Yuan B. Multi-task Control for a Quadruped Robot with Changeable Leg Configuration. In2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020 (pp. 3944-3950). IEEE.
[11] Ahn MS, Chae H, Hong DW. Stable, autonomous, unknown terrain locomotion for quadrupeds based on visual feedback and mixed-integer convex optimization. In2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018 Oct 1 (pp. 3791-3798). IEEE.
[12] Mao L, Gao F,Tian Y, Zhao Y. Novel method for preventing shin-collisions in six-legged robots by tilizing a robot–terrain interference model. Mechanism and Machine Theory. 2020 Sep 1;151:103897.
[13] Li H, Qi C, Mao L, Zhao Y, Chen X, Gao F. Staircase-climbing capability-based dimension design of a hexapod robot. Mechanism and Machine Theory. 2021 Oct 1;164:104400.
[14] Rastgar H, Naeimi HR, Agheli M. Characterization, validation, and stability analysis of maximized reachable workspace of radially symmetric hexapod machines. Mechanism and machine theory. 2019 Jul ; 315-35.
[15] Mummolo C, Mangialardi L, Kim JH. Numerical estimation of balanced and falling states for constrained legged systems. Journal of Nonlinear Science. 2017 Aug;27(4):1291-323.
[16] Liu, Tao, et al. "Hexapod robot fault tolerant gait on slope and simulation verification." Journal of Physics: Conference Series. Vol. 1601. No. 6. IOP Publishing, 2020.
[17] M. NagshNilchi, M. Saadat, Improving the movement path of a six-legged robot in a rough environment in order to serve corona patients. The Second National Conference on Health Knowledge Production and Governance in the Post-Corona World, 2022.
[18] J. Coelho, R. Sá , T. Ribeiro , F. Ribeiro , B. Dias , G. Lopes , P. Flores, Study of the locomotion of a hexapod using CoppeliaSim and ROS, International Conference on Computers and Automation (CompAuto), 2021, 109-116.
[19] L. Ding, H. Gao, Z. Deng, J. Song, Y. Liu, G. Liu, K. Iagnemma, Foot–terrain interaction mechanics for legged robots: Modeling and experimental validation. The International Journal of Robotics Research, 2013, 1585-1606.
[20] T. Zhang, Q. Wei, H. Ma, Position/force control for a single leg of a quadruped robot in an operation space. International Journal of Advanced Robotic Systems, 2013, 137.
[21] Y. Zhu, B. Jin, Compliance control of a legged robot based on improved adaptive control: Method and experiments, Int. J. Robot, 2016, 366-373.
[22] M. Luneckas, T. Luneckas, D. Udris, D. Plonis, R. Maskeliunas, R. Damasevicius, Energy-efficient walking over irregular terrain: A case of hexapod robot. Metrology and measurement systems, 2019.
[23] S. ZHANG, Y. XING, Y. HU, Composite gait optimization method for a multi-legged robot based on optimal energy consumption, Chinese Space Science and Technology, 2018.
[24] L. Zhang, C. Zhou, Optimal three-dimensional biped walking pattern generation based on geodesics. International Journal of Advanced Robotic Systems, 2017, 729881417696235.
[25] M. Li, X. Wang, W. Guo, P. Wang, L. Sun, System design of a cheetah robot toward ultra-high speed. International Journal of Advanced Robotic Systems, 2014, 73.
[26] S. Zhang, M. Liu, Y. Yin, X. Rong, Y. Li, Z. Hua. Static gait planning method for quadruped robot walking on unknown rough terrain. IEEE Access, 2019, 177651-177660.
[27] A. Spröwitz, A. Tuleu, M. Vespignani, M. Ajallooeian, E. Badri, A. Ijspeert, Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot. The International Journal of Robotics Research, 2013, 935-950.
[28] Y. Xin, H. Liang, T. Mei, R. Huang, J. Chen, P. Zhao, C. Sun, Y. Wu. A new dynamic obstacle collision avoidance system for autonomous vehicles. International Journal of Robotics & Automation, 2015, 30(3).
[29] M. Luneckas, T. Luneckas, D. Udris, D. Plonis, R. Maskeliūnas, R. Damaševičius, A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots, Intelligent Service Robotics, 202, 9-24.
[30] J. Chen, F. Gao, C. Huang, J. Zhao, Whole-body motion planning for a six-legged robot walking on rugged terrain, Applied Sciences, 2019 Jan, 9(24), 5284.
[31] P. Boscariol, D. Richiedei, Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems, Applied Sciences, 2020, 10(14), 4982.
[32] A, Gasparetto, P. Boscariol, A. Lanzutti, R. Vidoni, Trajectory planning in robotics. Mathematics in Computer Science, 2012, 6(3), 269-279.
[33] G. Carabin, L. Scalera, On the trajectory planning for energy efficiency in industrial robotic systems. Robotics, 2020, 9(4), 89.