Modelling and simulation of artificial locomotion systems

Robotica ◽  
2005 ◽  
Vol 23 (5) ◽  
pp. 595-606 ◽  
Author(s):  
Manuel F. Silva ◽  
J. A. Tenreiro Machado ◽  
António M. Lopes
Keyword(s):  
Simulation Model ◽  
Fractional Order ◽  
Soil Mechanics ◽  
Viscous Friction ◽  
Legged Locomotion ◽  
Modelling And Simulation ◽  
Locomotion System ◽  
Linear Spring ◽  
Robot Leg ◽  
Robot Body

This paper describes a simulation model for a multi-legged locomotion system with joints at the legs having viscous friction, flexibility and backlash. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, the robot body is divided into several segments in order to emulate the behaviour of an animal spine. The foot-ground interaction is modelled through a non-linear spring-dashpot system whose parameters are extracted from the studies on soil mechanics. To conclude, the performance of the developed simulation model is evaluated through a set of experiments while the robot leg joints are controlled using fractional order algorithms.

scholarly journals Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot

2011 ◽  
Author(s):  
Gustavo Freitas ◽  
Fernando Lizarralde ◽  
Liu Hsu ◽  
Vitor Paranhos ◽  
Ney R. Salvi dos Reis ◽  
...  
Keyword(s):  
Legged Locomotion ◽  
Modeling And Control ◽  
Locomotion System ◽  
And Control

scholarly journals Numerical simulation of oscillations of a nonlinear mechanical system with a spring-loaded viscous friction damper

2019 ◽  
Vol 265 ◽  
pp. 05030
Author(s):  
Viktor Nekhaev ◽  
Viktor Nikolaev ◽  
Marina Safronova
Keyword(s):  
Differential Equations ◽  
Mechanical System ◽  
Degrees Of Freedom ◽  
External Disturbance ◽  
Viscous Friction ◽  
Force Characteristic ◽  
Friction Damper ◽  
System Of Differential Equations ◽  
Nonlinear Force ◽  
Linear Spring

The dynamics of a mechanical system consisting of a parallel-connected main elastic element, an external disturbance compensator having a nonlinear force characteristic, and a viscous friction damper sprung by a linear spring are studied. The resulting system of differential equations describing the behavior of the system has one and a half degrees of freedom and has specific properties depending on the ratio of stiffness of the main spring and the spring suspension of a viscous friction damper. It is established that a single nonlinear system with one and a half degrees of freedom has either one or two harmonics. In the general solution of the system of differential equations, there are always two harmonics in the above-resonance zone, one of which is always equal to the disturbance frequency, and the second one is sufficiently close to the frequency k0. In the linear conservative case and the absence of suspension of the viscous friction damper, the natural frequency of the displacement of the system k0 =14.046 s-1.

Fractional Order Modeling and Analysis of Buck-Boost Converter

2015 ◽  
Vol 789-790 ◽  
pp. 842-848
Author(s):  
Li Feng Yi ◽  
Kai Ru Zhang ◽  
Jun Liu
Keyword(s):  
Mathematical Model ◽  
Theoretical Analysis ◽  
Fractional Calculus ◽  
Simulation Model ◽  
Fractional Order ◽  
Theoretical Foundation ◽  
Boost Converter ◽  
Modeling And Analysis ◽  
Simulation Results ◽  
Conduction Mode

Considered the theoretical foundation of fractional order, the fractional mathematical model of the Buck-Boost converter in continuous conduction mode operation is built and analyzed in theory. Based on the improved Oustaloup fractional calculus for filter algorithm, the simulation model is framed by using the Matlab/Simulink software. And the simulation results are compared with that of integer order. It proves the correctness of the fractional order mathematical model and the theoretical analysis.

Research on Gait Analysis and Planning of Quadruped Search-Rescue Robot

2011 ◽  
Vol 121-126 ◽  
pp. 1484-1488 ◽  
Author(s):  
Peng Wang ◽  
Xin Li ◽  
Wen Hao Jiang ◽  
Shao Chen Kang ◽  
Jing Lei Xin
Keyword(s):  
Simulation Model ◽  
Degrees Of Freedom ◽  
Quadruped Robot ◽  
Search And Rescue ◽  
Actual Structure ◽  
Walking Machine ◽  
Rescue Robot ◽  
Simulation Results ◽  
Motion Characteristics ◽  
Robot Body

The search and rescue robot has the characteristics of quadruped walking machine. According to the actual structure of the quadruped robot body，the walking pose of the robot are planned，based on the study of the animal gait．The distributions of degrees-of-freedom is analyzed to ensure stable walking. A simulation model of quadruped search and rescue robot is established in ADAMS, and the motion characteristics of the system are observed using the simulation model established. Simulation results show that the motion characteristics of the system are closed related to the length of stride.

scholarly journals Knowledge Support of Simulation Model Reuse

10.14311/534 ◽  
2004 ◽  
Vol 44 (2) ◽  
Author(s):  
M. Valášek ◽  
P. Steinbauer ◽  
Z. Šika ◽  
Z. Zdráhal
Keyword(s):  
Simulation Model ◽  
Simulation Models ◽  
Modelling And Simulation ◽  
Formal Knowledge ◽  
Informal Knowledge ◽  
Engineering Models ◽  
Knowledge Support ◽  
Amount Of Knowledge ◽  
Usual Problem ◽  
New Machine

This describes the knowledge support for engineering design based on virtual modelling and simulation. These are the results of the EC Clockwork project. A typical and important step in the development of a simulation model is the phase of reusing. Virtual modelling and simulation often use the components of previous models. The usual problem is that the only remaining part of the previous simulation models is the model itself. However, a large amount of knowledge and intermediate models have been used, developed and then lost. A special methodology and special tools have therefore been developed on support of storing, retrieving and reusing the knowledge from previous simulation models. The knowledge support includes informal knowledge, formal knowledge and intermediate engineering models. This paper describes the overall methodology and tools, using the example of developing a simulation model of Trijoint, a new machine tool.

Mobile Minirobot with Hybrid Locomotion

2017 ◽  
Vol 260 ◽  
pp. 51-58 ◽  
Author(s):  
Mihai Olimpiu Tătar ◽  
Claudiu Cirebea
Keyword(s):  
Kinematic Model ◽  
Legged Locomotion ◽  
Electronic Components ◽  
Experimental Prototype ◽  
Locomotion System ◽  
Hybrid Locomotion

In this paper the authors present a mobile minirobot with a hybrid locomotion system. The proposed locomotion system combines the advantages of legged locomotion with the advantages of wheeled locomotion. Due to the proposed structure, the minirobot allows three ways of locomotion: legged, wheeled and combined. The paper describes the experimental prototype, the electronic components needed for controlling the minirobot and it analyses locomotion possibilities by using wheels and legs. The end of the paper presents the kinematic model for a single leg of the minirobot.

scholarly journals Optimisation of production processes with the use of the modelling and simulation method

2019 ◽  
Vol 299 ◽  
pp. 03007
Author(s):  
Dariusz Plinta ◽  
Patrik Grznar
Keyword(s):  
Simulation Model ◽  
Simulation Method ◽  
Modelling And Simulation ◽  
Production Processes ◽  
Optimum Solution ◽  
Almost All

The paper presents an application of the modelling and simulation method for finding an optimum solution related to designing production processes. Using simulation in connection with optimization makes it possible to check almost all admissible variants of the proposed improvements comparatively quickly in order to evaluate them and to choose the best solution. The paper presents how a simulation model is created and shows an example of multi-criteria optimization.

scholarly journals 3D CFD Arc Fault Simulation in Gas-Insulated Switchgears

2019 ◽  
Vol 6 (1) ◽  
pp. 35-38
Author(s):  
F. Reichert ◽  
A. Petchanka
Keyword(s):  
Simulation Model ◽  
Development Process ◽  
Fault Simulation ◽  
Three Dimensional ◽  
Modelling And Simulation ◽  
Simulation Tool ◽  
Arc Voltage ◽  
Arc Model ◽  
Rupture Disc ◽  
Protection Systems

Arc fault processes can lead to strong damages in gas-insulated switchgears and have to be considered in the development process. In order to reduce test costs, the development of overpressure protection systems can be supported by CFD arc fault simulations. The paper deals with the modelling and simulation of arc fault processes in gas--insulated switchgears. The developed simulation tool takes into account a three-dimensional arc model and the opening of a rupture disc during the arc fault process. The influence of different insulating media as e.g. SF<sub>6</sub>, Air and CO<sub>2</sub> on the arc fault process has been investigated. The simulation model has been validated by measured signals for pressure build-up and arc voltage.

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