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 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 Control of Hybrid Dynamics with Application to a Hopping Robot written by Frank Benton Mathis and published by . This book was released on 2016 with total page 110 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Dynamics and Control of Robotic Systems written by Andrew J. Kurdila and published by John Wiley & Sons. This book was released on 2019-12-16 with total page 514 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systems Presents the techniques of analytical mechanics of robotics Includes a review of advanced topics such as the recursive order N formulation Contains a wide array of design and analysis problems for robotic systems Written for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.
Download or read book Legged Robots that Balance written by Marc H. Raibert and published by MIT Press. This book was released on 1986 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, by a leading authority on legged locomotion, presents exciting engineering and science, along with fascinating implications for theories of human motor control. It lays fundamental groundwork in legged locomotion, one of the least developed areas of robotics, addressing the possibility of building useful legged robots that run and balance. The book describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments. Contrary to expectations, it reveals that control of such machines is not particularly difficult. It describes how the principles of locomotion discovered with one leg can be extended to systems with several legs and reports preliminary experiments with a quadruped machine that runs using these principles. Raibert's work is unique in its emphasis on dynamics and active balance, aspects of the problem that have played a minor role in most previous work. His studies focus on the central issues of balance and dynamic control, while avoiding several problems that have dominated previous research on legged machines. Marc Raibert is Associate Professor of Computer Science and Robotics at Carnegie-Mellon University and on the editorial board of The MIT Press journal, Robotics Research. Legged Robots That Balanceis fifteenth in the Artificial Intelligence Series, edited by Patrick Winston and Michael Brady.
Download or read book Feedback Control of Dynamic Bipedal Robot Locomotion written by Eric R. Westervelt and published by CRC Press. This book was released on 2018-10-03 with total page 322 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots. In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including: Mathematical modeling of walking and running gaits in planar robots Analysis of periodic orbits in hybrid systems Design and analysis of feedback systems for achieving stable periodic motions Algorithms for synthesizing feedback controllers Detailed simulation examples Experimental implementations on two bipedal test beds The elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.
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 Robot Modeling and Control written by Mark W. Spong and published by John Wiley & Sons. This book was released on 2020-02-07 with total page 608 pages. Available in PDF, EPUB and Kindle. Book excerpt: A New Edition Featuring Case Studies and Examples of the Fundamentals of Robot Kinematics, Dynamics, and Control In the 2nd Edition of Robot Modeling and Control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. With so much advancement in technology, from robotics to motion planning, society can implement more powerful and dynamic algorithms than ever before. This in-depth reference guide educates readers in four distinct parts; the first two serve as a guide to the fundamentals of robotics and motion control, while the last two dive more in-depth into control theory and nonlinear system analysis. With the new edition, readers gain access to new case studies and thoroughly researched information covering topics such as: ● Motion-planning, collision avoidance, trajectory optimization, and control of robots ● Popular topics within the robotics industry and how they apply to various technologies ● An expanded set of examples, simulations, problems, and case studies ● Open-ended suggestions for students to apply the knowledge to real-life situations A four-part reference essential for both undergraduate and graduate students, Robot Modeling and Control serves as a foundation for a solid education in robotics and motion planning.
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 Robot Dynamics And Control written by Mark W Spong and published by John Wiley & Sons. This book was released on 2008-08-04 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Download or read book Multibody System Dynamics Robotics and Control written by Hubert Gattringer and published by Springer Science & Business Media. This book was released on 2013-01-06 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.
Download or read book Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and published by Butterworth-Heinemann. This book was released on 2017-11-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. Presents state-of-the-art control approaches with biological relevance Provides a thorough understanding of the principles of organization of biological locomotion Teaches the organization of complex systems based on low-dimensional motion concepts/control Acts as a guideline reference for future robots/assistive devices with legged architecture Includes a selective bibliography on the most relevant published articles
Download or read book Hybrid Control and Motion Planning of Dynamical Legged Locomotion written by Nasser Sadati and published by John Wiley & Sons. This book was released on 2012-09-11 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete with downloadable MATLAB code of the control algorithms and schemes used in the book, this book is an invaluable guide to the latest developments and future trends in dynamical legged locomotion.
Download or read book Computational Modeling and Simulation of Quadrupedal Animal Movement written by Gina Bertocci and published by Frontiers Media SA. This book was released on 2022-08-17 with total page 239 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Design of high performance legged robots written by Josephus J. M. Driessen and published by Università degli Studi di Genova. This book was released on 2019-07-11 with total page 223 pages. Available in PDF, EPUB and Kindle. Book excerpt: PhD Dissertation The availability and capabilities of present-day technology suggest that legged robots should be able to physically outperform their biological counterparts. This thesis revolves around the philosophy that the observed opposite is caused by over-complexity in legged robot design, which is believed to substantially suppress design for high-performance. In this dissertation a design philosophy is elaborated with a focus on simple but high performance design. This philosophy is governed by various key points, including holistic design, technology-inspired design, machine and behaviour co-design and design at the performance envelope. This design philosophy also focuses on improving progress in robot design, which is inevitably complicated by the aspire for high performance. It includes an approach of iterative design by trial-and-error, which is believed to accelerate robot design through experience. This thesis mainly focuses on the case study of Skippy, a fully autonomous monopedal balancing and hopping robot. Skippy is maximally simple in having only two actuators, which is the minimum number of actuators required to control a robot in 3D. Despite its simplicity, it is challenged with a versatile set of high-performance activities, ranging from balancing to reaching record jump heights, to surviving crashes from several meters and getting up unaided after a crash, while being built from off-the-shelf technology. This thesis has contributed to the detailed mechanical design of Skippy and its optimisations that abide the design philosophy, and has resulted in a robust and realistic design that is able to reach a record jump height of 3.8m. Skippy is also an example of iterative design through trial-and-error, which has lead to the successful design and creation of the balancing-only precursor Tippy. High-performance balancing has been successfully demonstrated on Tippy, using a recently developed balancing algorithm that combines the objective of tracking a desired position command with balancing, as required for preparing hopping motions. This thesis has furthermore contributed to several ideas and theories on Skippy's road of completion, which are also useful for designing other high-performance robots. These contributions include (1) the introduction of an actuator design criterion to maximize the physical balance recovery of a simple balancing machine, (2) a generalization of the centre of percussion for placement of components that are sensitive to shock and (3) algebraic modelling of a non-linear high-gravimetric energy density compression spring with a regressive stress-strain profile. The activities performed and the results achieved have been proven to be valuable, however they have also delayed the actual creation of Skippy itself. A possible explanation for this happening is that Skippy's requirements and objectives were too ambitious, for which many complications were encountered in the decision-making progress of the iterative design strategy, involving trade-offs between exercising trial-and-error, elaborate simulation studies and the development of above-mentioned new theories. Nevertheless, from (1) the resulting realistic design of Skippy, (2) the successful creation and demonstrations of Tippy and (3) the contributed theories for high-performance robot design, it can be concluded that the adopted design philosophy has been generally successful. Through the case study design project of the hopping and balancing robot Skippy, it is shown that proper design for high physical performance (1) can indeed lead to a robot design that is capable of physically outperforming humans and animals and (2) is already very challenging for a robot that is intended to be very simple.
Download or read book Balancing of Linkages and Robot Manipulators written by Vigen Arakelian and published by Springer. This book was released on 2015-01-27 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.
