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Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: a Review Jun He and Feng Gao*

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Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: a Review Jun He and Feng Gao* He and Gao Chin. J. Mech. Eng. (2020) 33:79 https://doi.org/10.1186/s10033-020-00485-9 Chinese Journal of Mechanical Engineering REVIEW Open Access Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review Jun He and Feng Gao* Abstract Multilegged robots have the potential to serve as assistants for humans, replacing them in performing dangerous, dull, or unclean tasks. However, they are still far from being sufciently versatile and robust for many applications. This paper addresses key points that might yield breakthroughs for highly dynamic multilegged robots with the abilities of running (or jumping and hopping) and self-balancing. First, 21 typical multilegged robots from the last fve years are surveyed, and the most impressive performances of these robots are presented. Second, current developments regarding key technologies of highly dynamic multilegged robots are reviewed in detail. The latest leg mechanisms with serial-parallel hybrid topologies and rigid–fexible coupling confgurations are analyzed. Then, the development trends of three typical actuators, namely hydraulic, quasi-direct drive, and serial elastic actuators, are discussed. After that, the sensors and modeling methods used for perception are surveyed. Furthermore, this paper pays special attention to the review of control approaches since control is a great challenge for highly dynamic multilegged robots. Four dynamics-based control methods and two model-free control methods are described in detail. Third, key open topics of future research concerning the mechanism, actuation, perception, and control of highly dynamic multilegged robots are proposed. This paper reviews the state of the art development for multilegged robots, and discusses the future trend of multilegged robots. Keywords: Multilegged robot, Mechanism, Actuation, Perception, Control 1 Introduction inputs, one body end-efector and six leg end-efectors, Autonomous robotic systems may be classifed into three and 42 outputs. More than 50% of the earth’s surface is major areas: 1) less inputs–single end-efector–less out- inaccessible to traditional vehicles with wheels or tracks. puts (LSL) robotic systems such as wheeled and tracked Compared to their LSL and MSM counterparts, legged vehicles, 2) multiple inputs–single end-efector–mul- robots possess superior mobility in natural, irregular ter- tiple outputs (MSM) robotic systems such as autono- rain. However, to further expand their capabilities, legged mous mobile robots (AMRs) with manipulators, and 3) robots require more complicated mechanisms and con- multiple inputs–multiple end-efectors–multiple out- trol modes. puts (MMM) robotic systems. Legged robots are typical In this paper, the term “highly dynamic multilegged MMM robotic systems. For example, a hexapod robot robots” refers to all quadruped and hexapod walk- with three-degrees-of-freedom (3-DOF) legs has 18 ing robots with dynamic stabilities, capable of running, jumping, and hopping while maintaining self-balance against sliding or external impacts. Tese robots have *Correspondence: [email protected] recently shown impressive advancements in terms State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, of dynamic capabilities with the aid of various novel Shanghai 200240, China actuation and control strategies, yielding dynamic © The Author(s) 2020. This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creat iveco mmons .org/licen ses/by/4.0/. He and Gao Chin. J. Mech. Eng. (2020) 33:79 Page 2 of 30 performance comparable to human beings or other of legged robots are related to many factors, including mammals. For instance, the MIT Cheetah 2 quadruped their mechanisms and actuation, perception, and control robot can avoid sudden obstacles by jumping [1], and methods. Hence, it is necessary to survey the evolution of its bounding speed reaches up to 6.4 m/s [2]. Another these technologies. impressive example is the ANYmal quadruped robot, Tis paper reviews recent advances in highly dynamic which exploits a sim-to-real strategy: frst, reinforcement multilegged robots with respect to their mechanisms and learning is used for training neural network policies in actuation, perception, and control strategies. Te rest of the simulated virtual irregular environment; next, the this paper is organized as follows. In Section 2, we survey obtained policies are transferred to the ANYmal quad- the most signifcant multilegged robots reported in the ruped robot. In this way, ANYmal achieves high-level last fve years. A review of previous multilegged robots locomotion skills, higher speeds than ever before, and can be found in Refs. [12–14]. Sections 3–6 discuss the the capability of recovering rapidly from falling [3]. Com- mechanisms and actuation, perception, and control tech- pared to quadruped robots, hexapod legged robots have nologies of highly dynamic multilegged robots, respec- better stability and higher payload capacity owing to their tively. In Section 7, based on the fndings of the previous tripod gaits, making them suitable for disaster-rescue sections, key open topics for future research are pro- tasks. For example, the Crabster hexapod robots, devel- posed. Lastly, conclusions are addressed in Section 8. oped for the exploitation of ocean resources, are capable of seabed walking and carrying out underwater tasks [4]. 2 Recent Multilegged Robots Shortly after the Fukushima Daiichi disaster in March 2.1 Quadruped Robots 2011, some mobile robots such as iRobot and Quince 2.1.1 HyQ2Max and HyQreal entered the nuclear power plant and carried out inspec- Te frst HyQ robot, developed by Istituto Italiano di Tec- tions and simple operations. However, these robots nologia (IIT) in 2011, was a fully hydraulic, torque-con- failed quickly because of high radiation. It is now widely trolled quadruped robot capable of running and jumping acknowledged that robotic technologies at that time [15]. HyQ2Max, pictured in Figure 1(a), is an improved were far from sufcient for carrying out complex res- cue operations [5]. Recently, supported by the National Basic Research Program of China (973 Program), a series of hexapod robots with parallel legs were developed by Shanghai Jiao Tong University (SJTU) for frefghting, transportation, and detection in disaster environments, such as nuclear accidents [6–8]. Te payloads of these hexapod robots can reach up to 500 kg. In the DARPA Robotics Challenge held in 2015, many humanoid robots successfully performed various rescue operations, such as driving a car, cutting a pipe, and opening a door in a simulated disaster scenario of a nuclear power plant [9]. Tese new-generation legged robots featured high-level force and vision perception systems, enabling force con- trol and obstacle avoidance. Despite the great advances made thus far, the compli- ance, agility, and robustness of multilegged robots are still signifcantly worse than their biological counter- parts [10]. Terefore, legged robots have seldom been used for commercial applications. In fact, robustness and safety are the key considerations for legged robots in outdoor environments, easily outweighing agility and autonomy. In practice, it is very difcult for current leg- ged robots to be used in real applications in outdoor environments [11]; actually, only a few legged robots take into account the requirements of a specifc application, such as nuclear disaster relief (e.g., SJTU hexapod robots [6–8]) or inspection of gas and oil sites (e.g., ANYmal [3] and its previous version). In addition, the performances Figure 1 HyQ robots: a HyQ2Max [11]; b HyQReal He and Gao Chin. J. Mech. Eng. (2020) 33:79 Page 3 of 30 version with joint torque and range much larger than and skin made of Kevlar, glass fber, and plastic. Te tech- those of the previous version. All electronic devices such nical specifcations of HyQ2Max and HyQReal are shown as sensors, valves, and actuators are protected inside in Table 1. the mechanical structure to improve the robot’s reli- ability and robustness against impacts and dirt. Both the 2.1.2 StarlETH and ANYmal torso and leg structures are made of strong aerospace- Te ANYmal quadrupedal platform [10] was specifcally grade aluminum alloy. Te outline dimensions of HyQ- developed for autonomous operation in challenging envi- 2Max are approximately 1.306 m × 0.544 m × 0.918 m ronments. Its predecessor StarlETH [20] was designed to (length × width × height), and its weight is about 80 kg participate in the ARGOS (Autonomous Robot for Gas (of-board power) [16]. For each leg, there is a hip abduc- and Oil Sites) Challenge for the inspection of petrochem- tion/adduction (HAA) joint, a hip fexion/extension ical facilities. In this challenge, each robot has to navigate (HFE) joint, and a knee fexion/extension (KFE) joint. Te in a multilevel, outdoor facility, examine checkpoints, and HAA and HFE joints are rotary hydraulic actuators. Te detect, identify, and report internal and external anoma- KFE joint is actuated by a four-bar linkage mechanism lies. Te leg links of ANYmal are installed with an ofset with a hydraulic cylinder. Te ranges of the HAA, HFE, so that the KFE joint can rotate with a range of nearly and KFE joints are respectively 80°, 270°, and 165° [11]. 360°, as seen in Figure 2.
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