Download or read book Control of Walking Robots on Natural Terrain written by Glauco Augusto de Paula Caurin and published by . This book was released on 1994 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robotic Walking in Natural Terrain written by David S. Wettergreen and published by . This book was released on 1995 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "A substantial portion of the Earth is inaccessible to any sort of wheeled mechanism -- natural obstacles like large rocks, loose soil, deep ravines, and steep slopes conspire to render rolling locomotion ineffective. Hills, mountains, shores, seabeds, as well as the moon and other planets present similar terrain challenges. In many of these natural terrains, legs are well-suited. They can avoid small obstacles by making discrete contacts and passing up undesirable footholds. Legged mechanisms can climb over obstacles and step across ditches, surmounting terrain discontinuities of body-scale while staying level and stable. To achieve their potential, legged robots must coordinate their leg motions to climb over, step across and walk in natural terrain. These coordinated motions, which support and propel the robot, are called gait. This thesis develops a new method of gait planning and control that enables statically-stable walking robots to produce a gait that is robust and productive in natural terrain. Independent task-achieving processes, called gait behaviors, establish a nominal gait, adapt it to the terrain, and react to disturbances like bumps and slips. Gait controlled in this way enabled the robot Dante II to walk autonomously in natural terrain, including the volcanic crater of Mount Spurr. This method extends to other walking robots as demonstrated by a generalized hexapod that performs the variety of gaits seen in six-legged insects, as well as aperiodic free gaits. The ability to change gait patterns on-the-fly with continuous, stable motion is a new development that enables robots to behave more like animals in adapting their gait to terrain. Finally, this thesis describes why walking robots need predictive plans as well as reflexive behaviors to walk effectively in the real world. It presents a method of guiding the behavior of a walking robot by planning distinct attributes of the desired gait. This partitioning of gait planning avoids the complexity of high degree-of-freedom motion planning. The ability to plan and foresee changes in gait improves performance while maintaining robust safety and stability."
Download or read book Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots written by Jerry E. Pratt and published by . This book was released on 2000 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Climbing and Walking Robots and the Supporting Technologies for Mobile Machines written by G. Muscato and published by John Wiley & Sons. This book was released on 2003-11-07 with total page 1114 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bringing together academics, researchers, and industrialists, Climbing and Walking Robots 2003 (CLAWAR 2003) provides a forum for cross-fertilization in the different specialities so that both state-of-the-art and industrial applications can be reported on. Original contributions, both industrial and those in new/emerging fields, provide a full picture of climbing and walking robots. The interest in climbing and walking robots (CLAWAR) has increased considerably over recent years, addressing many application fields such as exploration/intervention in extreme environments, personal services, emergency rescue operations, transportation, entertainment, etc., and envisage humanoid robots evolving into mechatronic replicas of ourselves. Topics covered include: Biological Inspired Systems Medical Systems Control of CLAWAR Design Methodology System Modelling and Simulation Modularity and System Architecture Gait Generation and Stability of CLAWAR Biped Locomotion Multi-legged Locomotion Micro Machines Applications Climbing Robots Actuators, Sensors, Navigation, and Sensors Fusion CLAWAR Network Workpackages
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 A General Model of Legged Locomotion on Natural Terrain written by David J. Manko and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system. A General Model of Legged Locomotion on Natural Terrain develops a dynamic mechanism model that characterizes indeterminate interactions of a closed-chain robot with its environment. The approach is applicable to any closed-chain mechanism with sufficient contact compliance, although legged locomotion on natural terrain is chosen to illustrate the methodology. The modeling and solution procedures are general to all walking machine configurations, including bipeds, quadrupeds, beam-walkers and hopping machines. This work develops a functional model of legged locomotion that incorporates, for the first time, non-conservative foot-soil interactions in a nonlinear dynamic formulation. The model was applied to a prototype walking machine, and simulations generated significant insights into walking machine performance on natural terrain. The simulations are original and essential contributions to the design, evaluation and control of these complex robot systems. While posed in the context of walking machines, the approach has wider applicability to rolling locomotors, cooperating manipulators, multi-fingered hands, and prehensile agents.
Download or read book Advances In Climbing And Walking Robots Proceedings Of 10th International Conference Clawar 2007 written by Ming Xie and published by World Scientific. This book was released on 2007-07-11 with total page 787 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is an exciting field in engineering and natural sciences. Robotics has already made a significant contribution to many industries with the widespread use of industrial robots for tasks such as assembly, welding, painting, and handling materials. In parallel, we have witnessed the emergence of special robots which can undertake assistive jobs, such as search and rescue, de-mining, surveillance, exploration, and security functions. Indeed, the interest in mobile machines, such as climbing and walking robots, has broadened the scope of investigation in robotics. This volume covers broad topics related to mobile machines in general, and climbing and walking robots in particular. Papers from the following keynote speakers are included: Heinz Worn (University of Karlsruhe, Germany), Atsuo Takanishi (University of Waseda, Japan), John Billingsley (University of Southern Queensland, Australia), Bryan Bridge (London South Bank University, UK) and Neville Hogan (Massachusetts Institute of Technology, USA).
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 Real Time Control of Walking written by M.D. Donner and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: I wonder whether Karel Capek imagined in 1923 that by his use of the Czech word for forced labor, rohota, to name the android creations of Mr. Rossum he was naming an important technology of his future. Perhaps it wasn't Capek's work directly, but rather its influence on Lang's movie Metropolis in 1926 that introduced the term to the popular consciousness. In the public mind ever since a robot has been a me chanical humanoid, tireless and somewhat sinister. In the research community the field of robotics has recently reached large size and respectability, but without answering the question, "What is robotics?" or perhaps, "What is a robot?" There is no real consensus for a precise definition of robotics. I suppose that Capekian mechanical men, if one could build them, are robots, but after that there is little agreement. Rather than try to enumerate all of the things that are and are not robots, I will try to characterize the kinds of features that make a system a robot. A candidate definition of a robot is a system intended to achieve mechanical action, with sensory feedback from the world to guide the actions and a sophisticated con trol system connecting the sensing and the actions.
Download or read book Gait Optimization for Multi legged Walking Robots with Application to a Lunar Hexapod written by Daniel Chávez-Clemente and published by Stanford University. This book was released on 2011 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: The interest in using legged robots for a variety of terrestrial and space applications has grown steadily since the 1960s. At the present time, a large fraction of these robots relies on electric motors at the joints to achieve mobility. The load distributions inherent to walking, coupled with design constraints, can cause the motors to operate near their maximum torque capabilities or even reach saturation. This is especially true in applications like space exploration, where critical mass and power constraints limit the size of the actuators. Consequently, these robots can benefit greatly from motion optimization algorithms that guarantee successful walking with maximum margin to saturation. Previous gait optimization techniques have emphasized minimization of power requirements, but have not addressed the problem of saturation directly. This dissertation describes gait optimization techniques specifically designed to enable operation as far as possible from saturation during walking. The benefits include increasing the payload mass, preserving actuation capabilities to react to unforeseen events, preventing damage to hardware due to excessive loading, and reducing the size of the motors. The techniques developed in this work follow the approach of optimizing a reference gait one move at a time. As a result, they are applicable to a large variety of purpose-specific gaits, as well as to the more general problem of single pose optimization for multi-limbed walking and climbing robots. The first part of this work explores a zero-interaction technique that was formulated to increase the margin to saturation through optimal displacements of the robot's body in 3D space. Zero-interaction occurs when the robot applies forces only to sustain its weight, without squeezing the ground. The optimization presented here produces a swaying motion of the body while preserving the original footfall locations. Optimal displacements are found by solving a nonlinear optimization problem using sequential quadratic programming (SQP). Improvements of over 20% in the margin to saturation throughout the gait were achieved with this approach in simulation and experiments. The zero-interaction technique is the safest in the absence of precise knowledge of the contact mechanical properties and friction coefficients. The second part of the dissertation presents a technique that uses the null space of contact forces to achieve greater saturation margins. Interaction forces can significantly contribute to saturation prevention by redirecting the net contact force relative to critical joints. A method to obtain the optimal distribution of forces for a given pose via linear programming (LP) is presented. This can be applied directly to the reference gait, or combined with swaying motion. Improvements of up to 60% were observed in simulation by combining the null space with sway. The zero-interaction technique was implemented and validated on the All Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE), a hexapod robot developed by NASA for the transport of heavy cargo on the surface of the moon. Experiments with ATHLETE were conducted at the Jet Propulsion Laboratory in Pasadena, California, confirming the benefits predicted in simulation. The results of these experiments are also presented and discussed in this dissertation.
Download or read book Bipedal Robots written by Christine Chevallereau and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.
Download or read book Climbing and Walking Robots written by M. Osman Tokhi and published by Springer Science & Business Media. This book was released on 2006-05-05 with total page 1106 pages. Available in PDF, EPUB and Kindle. Book excerpt: The interest in climbing and walking robots (CLAWAR) has intensified in recent years, and novel solutions for complex and very diverse applications have been anticipated by means of significant progress in this area of - botics. Moreover, the amalgamation of original ideas and related inno- tions, search for new potential applications and the use of state of the art support technologies permit to foresee an important step forward and a significant socio-economic impact of advanced robot technology in the - ture. This is leading to the creation and consolidation of a mobile service robotics sector where most of the robotics activities are foreseen in the - ture. The technology is now maturing to become of real benefit to society and methods of realizing this potential quickly are being eagerly explored. Robot standards and modularity are key to this and form key components of the research presented here. CLAWAR 2005 is the eighth in a series of international conferences - ganised annually since 1998 with the aim to report on latest research and development findings and to provide a forum for scientific discussion and debate within the mobile service robotics community. The series has grown in its popularity significantly over the years, and has attracted - searchers and developers from across the globe. The CLAWAR 2005 p- ceedings reports state of the art scientific and developmental findings p- sented during the CLAWAR 2005 conference in 131 technical presentations by authors from 27 countries covering the five continents.
Download or read book Walking Machines written by D. J. Todd and published by Springer Science & Business Media. This book was released on 2013-03-08 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first chapter of this book traces the history of the development of walking machines from the original ideas of man-amplifiers and military rough-ground transport to today's diverse academic and industrial research and development projects. It concludes with a brief account of research on other unusual methods of locomotion. The heart of the book is the next three chapters on the theory and engineering of legged robots. Chapter 2 presents the basics of land loco motion, going on to consider the energetics of legged movement and the description and classification of gaits. Chapter 3, dealing with the mechanics of legged vehicles, goes into leg number and arrangement, and discusses mechanical design and actuation methods. Chapter 4 deals with analysis and control, describing the aims of control theory and the methods of modelling and control which have been used for both highly dynamic robots and multi-legged machines. Having dealt with the theory of control it is necessary to discuss the computing system on which control is to be implemented. This is done in Chapter 5, which covers architectures, sensing, algorithms and pro gramming languages. Chapter 6 brings together the threads of the theory and engineering discussed in earlier chapters and summarizes the current walking machine research projects. Finally, the applications, both actual and potential, of legged locomotion are described. Introduction Research into legged machines is expanding rapidly. There are several reasons why this is happening at this particular time.
Download or read book Climbing and Walking Robots written by M. Osman Tokhi and published by Springer Science & Business Media. This book was released on 2006-01-25 with total page 1146 pages. Available in PDF, EPUB and Kindle. Book excerpt: The interest in climbing and walking robots (CLAWAR) has intensified in recent years, and novel solutions for complex and very diverse applications have been anticipated by means of significant progress in this area of robotics. The shift of robotics from manufacturing to services is clearly gaining pace as witnessed by the growth in activities in the CLAWAR area. Moreover, the amalgamation of original ideas and related innovations, search for new potential applications and the use of state of the art support technologies indicate that important steps are likely in the near future and the results could have a significant beneficial socio-economic impact. This book reports on state of the art latest research and development findings and results presented in the CLAWAR 2005 Conference. These are presented in 131 technical articles by authors from 27 countries worldwide. The book is structured into 21 sections, which include some of the traditional topics featured in previous CLAWAR conferences with a set of new topics such as bioengineering, flexible manipulators, personal assistance applications, non-destructive test applications, security and surveillance applications and space applications of robotics. The editors are grateful to colleagues within the committee structure of the CLAWAR 2005 for their help in the review process of the articles and their support throughout this project.
Download or read book Climbing and Walking Robots written by Behnam Miripour-Fard and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 520 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study.
Download or read book Adaptive Neural Control of Walking Robots written by Mark Randall and published by John Wiley & Sons. This book was released on 2001 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume establishes a theoretical framework for the control structure for an autonomous walking robot capable of negotiating and exploring a rough-terrain environment with sparse footholds. In the early chapters, the late Mark Randall (electronic systems at the U. of the West of England) provides a hierarchical structure by examining the physiology, neuronal control, and co-ordination models postulated by observing insects, as well as a novel, computationally efficient, and principled foot trajectory generation scheme. Subsequent chapters focus on the main contribution of the research, which is the stable on-line neural control of complex structures. The research follows a biomimetic route and is illustrated with examples and practical experimental accounts. Distributed in the US by ASME. c. Book News Inc.
Download or read book Enhanced Robot Environment Interfaces to Improve Locomotion on Natural Terrain written by Emily Lathrop and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: As mobile robots become increasingly prevalent in society, there is a need to design robots to be robust to deployment in natural terrain environments. Natural environments feature diverse sets of challenges that are terrain specific, for example the strategies and robot morphologies needed for movement over sand dunes differs greatly from those needed for movement through dense forest underbrush, or through caves systems. As we seek to extend the range of robots from the human engineered spaces that they mostly inhabit today, new robot designs and movement strategies are needed in order to ensure robust and efficient locomotion. To date, much work has been done on complex sensing and control strategies to compensate for irregular environmental features, but these control strategies often involve expensive components and are computationally expensive. Alternatively, we can use morphology solutions to offload computation to the body of the robot, reducing sensor needs and freeing some computational power to be used for other tasks. To achieve this, we can harness new actuation strategies, unconventional materials, and novel robot appendage designs to modulate robot-environment interactions using only basic control loops. This dissertation describes the design of robot-environment interfaces that to improve physical interactions between a robot and it's environment in order to enable locomotion through that environment. First, I use granular jamming, a mechanism to achieve variable stiffness, and create shear-strengthened jamming robot appendages that can conform over irregular terrain. I demonstrate that, when internally reinforced with abrasive fibers, these granular jamming feet allow a hexapod robot to walk faster and with more traction over rough terrain. Next, I present a robot featuring directionally compliant telescoping appendages that allow it to passively compress to enter both vertically and horizontally confined spaces without sacrificing performance over open terrain features such as steps and rock gardens. Finally, I present a method for directional drag reduction using porous diffusive sheets and granular fluidization for improving the digging capabilities of mobile robots. Overall, these results demonstrate methods for designing robot morphologies to elicit specific interactions when moving through a target environment.
