Download or read book Control of Spring mass Running Robots written by Hamid Reza Vejdani Noghreiyan and published by . This book was released on 2013 with total page 75 pages. Available in PDF, EPUB and Kindle. Book excerpt: We seek the control strategies that are applicable on legged robots and control them to run in real world as robust and efficient as animals. To achieve this goal, we need to understand the principles of legged locomotion and the control policies that animals use during running. In this study we tried to understand these principles by investigating birds' running experiments, and hypothesized their possible control policies that are important for real machines. We proposed two types of flight phase control techniques inspired from ground running birds for spring-mass running robots and derived mathematical formulas for the optimum design of the passive elements in these robots. For the control policies, we focused on flight phase because adjusting the leg parameters during the flight is very energy efficient and also the overall behavior of the system is very sensitive to the landing conditions that are determined during the flight phase of running. We first considered the change of the leg angle as the only control parameter during the flight phase. In the proposed control policies, three objective functions i) leg peak force, ii) axial impulse and iii) leg actuator work, all from passive stance phase, were considered to be regulated during running. It turned out that with a simple swing leg policy (constant leg angular acceleration), all the three objective functions can be nearly regulated at the same time, meaning that both goals of damage avoidance and energy efficiency can be fulfilled at once. After that, we investigated the effect of the leg length in addition to the leg angle on the dynamics of the spring-mass running robots. This control policy retains the steady state running by providing the equilibrium gait for each stride. The leg length and leg angle together make it possible for the robot to retain the steady state in the presence of a disturbance while limit the increase of the leg force which if increases may break the leg. In all of the control policies, the robot is purely passive during the stance phase and therefore the dynamics of the system comes from the passive dynamics of the system. Finally, we investigated the effect of the passive dynamics elements on the initiation of running. We derived mathematical formulas that determine the required stiffness and damping for the actuator to achieve the maximum possible performance given the physical limitations of the system.

Download or read book Force and Impulse Control for Spring mass Running written by Devin N. Koepl and published by . This book was released on 2012 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: We present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. The motivation for our control strategy is based on observations of animals, which are able to economically walk and run over varying terrain and ground dynamics. It is well-known that steady-state animal running can be approximated by spring-mass models, but these passive dynamic models describe only steady-state running and are sensitive to disturbances that animals can accommodate. While animals rely on their passive dynamics for energy economy, they also incorporate active control for disturbance rejection. The same approach can be used for spring-mass walking and running, but an active controller is needed that interferes minimally with the passive dynamics of the system. We demonstrate, in simulation, how force control combined with a leg spring stiffness tuned for the desired hopping frequency provides robustness to disturbances on a model for robot hopping, while maintaining the energy economy of a completely passive system during steady-state operation. Our strategy is promising for robotics applications, because there is a clear distinction between the passive dynamic behavior of the model and the active controller, it does not require sensing of the environment, and it is based on a sound theoretical background that is compatible with existing high-level controllers for ideal spring-mass models.

Download or read book Dynamics and Control for Spring mass Legged Robots written by Hamid Reza Vejdani Noghreiyan and published by . This book was released on 2015 with total page 185 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this study is to propose control strategies for legged robots to walk and run naturally like humans and animals. To achieve this goal, we use the spring-mass model for the legged robots to be able to create the same dynamics in the leg as humans and animals. In this way, understanding the natural dynamics of the system plays the central role and the strategy is to manipulate the dynamics of the system in the favor of final goals. This research elaborates to follow the template-anchor-robot notion, therefore the process starts with reduced order model (template) and then shows the validity of the control policy on the full order model (anchor) and finally implements the policy on the robot. The study starts with analyzing the dynamics of the bipedal spring-mass model to find the workspace and the possible limit cycles in each energy level. After that, a deadbeat control strategy is proposed to pinpoint the system to the desired limit cycle. It is shown that two steps are necessary and sufficient for the deadbeat control but it turned out that the sensitivity of the system to the touch-down angle is a challenging issue for implementing on real robots. Therefore, unlike the deadbeat control technique that pinpoints the system to the desired states, four swing leg control policies are proposed to gradually approach the desired limit cycles. The large basins of attraction of these proposed control policies show that the system can be reliably controlled to the desired gaits after large perturbations. The implementation on the full order model of the robot as well as the robot itself confirms this conclusion. Furthermore, a time-based feed-forward control strategy for the stance phase of the bipedal spring-mass model is combined with one of the proposed swing leg control policies to stabilize the model and manages the energy of the system. The simulations show that this technique can stabilize the model and manages the energy level of the system and the rate of convergence would be higher for spring-mass system with some damping in parallel to the spring. By implementing this policy on the full order model of the robot, stable walking gaits, as were predicted by the reduced order model, were obtained. Finally, a flight phase control policy is proposed for spring-mass running robots through investigating birds' running experiments. In this control policy, three objective functions were considered to fulfill safety and efficiency during running. It turned out that with a simple swing leg policy (constant leg angular acceleration), both goals of damage avoidance and energy efficiency can be fulfilled at once.

Download or read book Adaptive Mobile Robotics written by Abul K. M. Azad and published by World Scientific. This book was released on 2012 with total page 904 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Download or read book ROMANSY 22 Robot Design Dynamics and Control written by Vigen Arakelian and published by Springer. This book was released on 2018-05-19 with total page 547 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2018, the 22nd CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2018 is the 22nd event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.

Download or read book Adaptive Mobile Robotics Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2012-07-11 with total page 904 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Download or read book Mobile Robotics Solutions And Challenges Proceedings Of The Twelfth International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2009-08-26 with total page 1199 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2008 conference. Robots are no longer confined to industrial manufacturing environments with a great deal of interest being invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for the dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics in meeting the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics specifically in mobile robotics, and their experience is reflected in the careful editing of the contents in the book.

Download or read book Fast Motions in Biomechanics and Robotics written by Moritz Diehl and published by Springer. This book was released on 2007-07-13 with total page 449 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past decades, much progress has been made in the field of walking robots. The current state of technology makes it possible to create humanoid robots that nearly walk like a human being, climb stairs, or avoid small - stacles. However, the dream of a robot running as fast and as elegantly as a human is still far from becoming reality. Control of such fast motions is still a big technological issue in robotics, and the maximum running speed of contemporary robots is still much smaller than that of human track runners. The conventional control approach that most of these robots are based on does not seem to be suitable to increase the running speeds up to a biological level. In order to address this challenge, we invited an interdisciplinary community of researchers from robotics, biomechanics, control engineering and applied mathematics to come together in Heidelberg at the Symposium “Fast Motions in Biomechanics and Robotics – Optimization & Feedback Control” which was held at the International Science Forum (IWH) on September 7–9, 2005. The number of participants in this symposium was kept small in order to promote discussions and enable a fruitful exchange of ideas.

Download or read book Robotics in Natural Settings written by José M. Cascalho and published by Springer Nature. This book was released on 2022-08-24 with total page 633 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes recent research on climbing and walking robots. CLAWAR 2022 is the twenty-fifth International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the University of the Azores, S. Miguel, Portugal, during September 12-14, 2022. CLAWAR 2022 provides an updated state of the art on robotics and its use in a diversity of applications and/or simulation scenarios, within the framework “Robotics in Natural Settings”. The topics covered include Bio-Inspired Robotics, Biped Locomotion, Educational Robotics, Human-Machine/Human-Robot Interaction, Innovative Actuators, Inspection, Legged Locomotion, Modeling and Simulation of CLAWAR, Outdoor and Field Robotics, Planning and Control, Wearable Devices and Assistive Robotics, and the Use of A.I. in Robotics. The intended readership includes participants of CLAWAR 2022 conference, international robotic researchers, scientists, and professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.

Download or read book Climbing and Walking Robots and the Support Technologies for Mobile Machines written by Phillippe Bidaud and published by John Wiley & Sons. This book was released on 2002-11-08 with total page 1080 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic technology advances for a wide variety of applications Climbing and Walking Robots and the Support Technologies for Mobile Machines explores the increasing interest in real-world robotics and the surge in research and invention it has inspired. Featuring the latest advances from leading robotics labs around the globe, this book presents solutions for perennial challenges in robotics and suggests directions for future research. With applications ranging from personal services and entertainment to emergency rescue and extreme environment intervention, the groundbreaking work presented here provides a glimpse of the future.

Download or read book Robotics written by Yoky Matsuoka and published by MIT Press. This book was released on 2011-08-05 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: Papers from a flagship robotics conference that cover topics ranging from kinematics to human-robot interaction and robot perception. Robotics: Science and Systems VI spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and the analysis of robotics systems. This volume presents the proceedings of the sixth Robotics: Science and Systems conference, held in 2010 at the University of Zaragoza, Spain. The papers presented cover a wide range of topics in robotics, spanning mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, distributed systems, mobile systems and mobility, manipulation, field robotics, medical robotics, biological robotics, robot perception, and estimation and learning in robotic systems. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.

Download or read book Robotics Research written by Nancy M. Amato and published by Springer Nature. This book was released on 2019-11-28 with total page 1058 pages. Available in PDF, EPUB and Kindle. Book excerpt: ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.

Download or read book Emerging Trends in Mobile Robotics written by Hideo Fujimoto and published by World Scientific. This book was released on 2010 with total page 1387 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive account of stochastic filtering as a modeling tool in finance and economics. It aims to present this very important tool with a view to making it more popular among researchers in the disciplines of finance and economics. It is not intended to give a complete mathematical treatment of different stochastic filtering approaches, but rather to describe them in simple terms and illustrate their application with real historical data for problems normally encountered in these disciplines. Beyond laying out the steps to be implemented, the steps are demonstrated in the context of different market segments. Although no prior knowledge in this area is required, the reader is expected to have knowledge of probability theory as well as a general mathematical aptitude. Its simple presentation of complex algorithms required to solve modeling problems in increasingly sophisticated financial markets makes this book particularly valuable as a reference for graduate students and researchers interested in the field. Furthermore, it analyses the model estimation results in the context of the market and contrasts these with contemporary research publications. It is also suitable for use as a text for graduate level courses on stochastic modeling.

Download or read book Emerging Trends In Mobile Robotics Proceedings Of The 13th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Hiromi Mochiyama and published by World Scientific. This book was released on 2010-08-23 with total page 1387 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2010 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Download or read book Advances in Mechatronics and Biomechanics towards Efficient Robot Actuation written by Jörn Malzahn and published by Frontiers Media SA. This book was released on 2019-06-28 with total page 195 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Wearable Sensors and Robots written by Canjun Yang and published by Springer. This book was released on 2016-09-30 with total page 571 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings present the latest information on regulations and standards for medical and non-medical devices, including wearable robots for gait training and support, design of exoskeletons for the elderly, innovations in assistive robotics, and analysis of human–machine interactions taking into account ergonomic considerations. The rapid development of key mechatronics technologies in recent years has shown that human living standards have significantly improved, and the International Conference on Wearable Sensor and Robot was held in Hangzhou, China from October 16 to 18, 2015, to present research mainly focused on personal-care robots and medical devices. The aim of the conference was to bring together academics, researchers, engineers and students from across the world to discuss state-of-the-art technologies related to various aspects of wearable sensors and robots. div

Download or read book Mobile Service Robotics written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2014-07-07 with total page 741 pages. Available in PDF, EPUB and Kindle. Book excerpt: Interest in control of climbing and walking robots has remarkably increased over the years. Novel solutions of complex mechanical systems such as climbing, walking, flying and running robots with different kinds of locomotion and the technologies that support them and their applications are the evidence of significant progress in the area of robotics. Supporting technologies include the means by which robots use to sense, model, and navigate through their environments and, of course, actuation and control technologies. Human interaction including exoskeletons, prostheses and orthoses, as well as service robots, are increasingly active important pertinent areas of research. In addition, legged machines and tracked platforms with software architecture seem to be currently the research idea of most interest to the robotics community.