scholarly journals The effects of swing-leg retraction on running performance: analysis, simulation, and experiment

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2137-2155 ◽  
Author(s):  
J. G. Daniël Karssen ◽  
Matt Haberland ◽  
Martijn Wisse ◽  
Sangbae Kim

SUMMARYUsing simple running models, researchers have argued that swing-leg retraction can improve running robot performance. In this paper, we investigate whether this holds for a more realistic simulation model validated against a physical running robot. We find that swing-leg retraction can improve stability and disturbance rejection. Alternatively, swing-leg retraction can simultaneously reduce touchdown forces, slipping likelihood, and impact energy losses. Surprisingly, swing-leg retraction barely affected net energetic efficiency. The retraction rates at which these effects are the greatest are strongly model-dependent, suggesting that robot designers cannot always rely on simplified models to accurately predict such complex behaviors.

2011 ◽  
Vol 422 ◽  
pp. 176-183
Author(s):  
Gang Wang ◽  
Yu Wan Cen

To improve the regulating characteristics of impact energy, simplify structure of hydraulic hammer, a new pulse modulation hydraulic hammer is presented in the paper which can help regulate its impact frequency easily. The motion equations of the hydraulic hammer are established, its simulation model is obtained and the dynamic simulation is carried out on AMESim. The dynamics of high-speed ON/OFF valve is taken into account in the simulation model. The tendency of simulation results conforms to experimental results; it shows that the pulse modulation hydraulic hammer is feasible, and the hydraulic hammer model is reasonable. The time delay in high working frequency is also analyzed.


2012 ◽  
Vol 522 ◽  
pp. 560-565
Author(s):  
Bing Wang ◽  
Mamatjan Tursun ◽  
Jun Long ◽  
Shao Ming Liu ◽  
Feng Rui Ding

In this research, a simulation model of an animal Traumatic Brain Injury test platform is established using Solid Edge software. Applying the Biological Functions testing system and Matlab, performance analysis for the test platform was undertaken.


2011 ◽  
Vol 383-390 ◽  
pp. 358-365 ◽  
Author(s):  
Fu Lin Teng ◽  
Hong Yu Ge ◽  
Hong Sheng Li ◽  
Jian Hua Zhang

Modern spacecraft demands from an attitude control system very high performance and accuracy, and many new features, such as disturbance rejection capability. The recently developed active disturbance rejection control technology is applied to the attitude control of spacecraft subject to disturbances and parametric uncertainties. Simulation and experiment show significant advantages of the proposed attitude controller over the controller resulting from conventional PID approach.


1997 ◽  
Vol 77 (4) ◽  
pp. 1795-1812 ◽  
Author(s):  
Jesper Tegnér ◽  
Jeanette Hellgren-Kotaleski ◽  
Anders Lansner ◽  
Sten Grillner

Tegnér, Jesper, Jeanette Hellgren-Kotaleski, Anders Lansner, and Sten Grillner. Low-voltage-activated calcium channels in the lamprey locomotor network: simulation and experiment. J. Neurophysiol. 77: 1795–1812, 1997. To evaluate the role of low-voltage-activated (LVA) calcium channels in the lamprey spinal locomotor network, a previous computer simulation model has been extended to include LVA calcium channels. It is also of interest to explore the consequences of a LVA conductance for the electrical behavior of the single neuron. The LVA calcium channel was modeled with voltage-dependent activation and inactivation using the m 3 h form, following a Hodgkin-Huxley paradigm. Experimental data from lamprey neurons was used to provide parameter values of the single cell model. The presence of a LVA calcium conductance in the model could account for the occurrence of a rebound depolarization in the simulation model. The influence of holding potential on the occurrence of a rebound as well the latency at which it is elicited was investigated and compared with previous experiments. The probability of a rebound increased at a more depolarized holding potential and the latency was also reduced under these conditions. Furthermore, the effect of changing the holding potential and the reversal potential of the calcium dependent potassium conductance were tested to determine under which conditions several rebound spikes could be elicited after a single inhibitory pulse in the simulation model. A reduction of the slow afterhyperpolarization (sAHP) after the action potential reduced the tendency for a train of rebound spikes. The experimental effects of γ-aminobutyric acid-B(GABAB) receptor activation were simulated by reducing the maximal LVA calcium conductance. A reduced tendency for rebound firing and a slower rising phase with sinusoidal current stimulation was observed, in accordance with earlier experiments. The effect of reducing the slow afterhyperpolarization and reducing the LVA calcium current was tested experimentally in the lamprey spinal cord, during N-methyl-d-aspartate (NMDA)-induced fictive locomotion. The reduction of burst frequency was more pronounced with GABAB agonists than with apamin (inhibitor of K(Ca) current) when using high NMDA concentration (high burst frequency). The burst frequency increased after the addition of a LVA calcium current to the simulated segmental network, due to a faster recovery during the inhibitory phase as the activity switches between the sides. This result is consistent with earlier experimental findings because GABAB receptor agonists reduce the locomotor frequency. These results taken together suggest that the LVA calcium channels contribute to a larger degree with respect to the burst frequency regulation than the sAHP mechanism at higher burst frequencies. The range in which a regular burst pattern can be simulated is extended in the lower range by the addition of LVA calcium channels, which leads to more stable activity at low locomotor frequencies. We conclude that the present model can account for rebound firing and trains of rebound spikes in lamprey neurons. The effects of GABAB receptor activation on the network level is consistent with a reduction of the calcium current through LVA calcium channels even though GABAB receptor activation will affect the sAHP indirectly and also presynaptic inhibition.


2015 ◽  
Vol 727-728 ◽  
pp. 752-756
Author(s):  
Zhong Yi Cao ◽  
Xin Ming Liu ◽  
Wan Rong Wu

There are some defects in the traditional over-running load hydraulic system, such as velocity control is poor and prone to velocity jitter, etc. In order to improve these weaknesses, the components and work principle of the separate meter in and separate meter out (SMISMO) were introduced and the actuator’s feature were analyzed , the simulation model of hydraulic studied system was built, the factors affecting the stability of the system are discussed in this paper. Simulation and experiment showed that the novel control system possessed higher velocity control precise and good stable characteristics.


Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 9-17 ◽  
Author(s):  
Vadakkepat Prahlad ◽  
Goswami Dip ◽  
Chia Meng-Hwee

SUMMARYA novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability. The value of the compensating torque is computed from the reading of the force sensors located at the four corners of each foot. The effectiveness of the method is verified on a humanoid robot, MANUS-I. With the compensation technique, the robot successfully rejected disturbances in different forms. It carried an additional weight of 390 gm (17% of body weight) while walking. Also, it walked up a 10° slope and walked down a 3° slope.


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