Grounding an internal body model of a hexapod walker control of curve walking in a biologically inspired robot

2012 ◽  
Author(s):  
Malte Schilling ◽  
Jan Paskarbeit ◽  
Josef Schmitz ◽  
Axel Schneider ◽  
Holk Cruse
Keyword(s):  
Biologically Inspired ◽  
Body Model ◽  
Biologically Inspired Robot ◽  
Internal Body

Dynamics and Simulation of General Human and Humanoid Motion in Sports

2011 ◽  
pp. 36-62 ◽  
Author(s):  
Veljko Potkonjak ◽  
Miomir Vukobratovic ◽  
Kalman Babkovic ◽  
Branislav Borovac
Keyword(s):  
Mathematical Models ◽  
Motion Planning ◽  
Mathematical Analysis ◽  
Humanoid Robot ◽  
Dynamic Control ◽  
Humanoid Robots ◽  
Assistive Devices ◽  
Kinematics And Dynamics ◽  
Biologically Inspired ◽  
Biologically Inspired Robot

This chapter relates biomechanics to robotics. The mathematical models are derived to cover the kinematics and dynamics of virtually any motion of a human or a humanoid robot. Benefits for humanoid robots are seen in fully dynamic control and a general simulator for the purpose of system designing and motion planning. Biomechanics in sports and medicine can use these as a tool for mathematical analysis of motion and disorders. Better results in sports and improved diagnostics are foreseen. This work is a step towards the biologically-inspired robot control needed for a diversity of tasks expected in humanoids, and robotic assistive devices helping people to overcome disabilities or augment their physical potentials. This text deals mainly with examples coming from sports in order to justify this aspect of research.

scholarly journals Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish

2012 ◽  
Vol 2012 ◽  
pp. 1-16 ◽  
Author(s):  
M. O. Afolayan ◽  
D. S. Yawas ◽  
C. O. Folayan ◽  
S. Y. Aku
Keyword(s):  
Robotic Fish ◽  
Biologically Inspired ◽  
Redundant Robot ◽  
Critical Part ◽  
Joint Mechanism ◽  
Biomimetic Robotic Fish ◽  
Computerized Simulation ◽  
Turning Radius ◽  
Minimum Turning Radius ◽  
Biologically Inspired Robot

A biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyper-redundant joint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows that the rubber joints will be able to take up the stress that will be created. Furthermore, the frequency-induced softening of the rubber used was found to be critical if the joints are going to oscillate at frequency above 25 Hz. The robotic fish was able to attain a speed of 0.985 m/s while the tail beats at a maximum of 1.7 Hz when tested inside water. Furthermore, a minimum turning radius of 0.8 m (approximately 2 times the fish body length) was achieved.

scholarly journals Dynamics and flight control of a flapping-wing robotic insect in the presence of wind gusts

2017 ◽  
Vol 7 (1) ◽  
pp. 20160080 ◽  
Author(s):  
Pakpong Chirarattananon ◽  
Yufeng Chen ◽  
E. Farrell Helbling ◽  
Kevin Y. Ma ◽  
Richard Cheng ◽  
...  
Keyword(s):  
Flight Control ◽  
Disturbance Rejection ◽  
Aerodynamic Drag ◽  
Flapping Wing ◽  
Horizontal Wind ◽  
Biologically Inspired ◽  
Position Errors ◽  
Wind Gusts ◽  
Simulated Wind ◽  
Biologically Inspired Robot

With the goal of operating a biologically inspired robot autonomously outside of laboratory conditions, in this paper, we simulated wind disturbances in a laboratory setting and investigated the effects of gusts on the flight dynamics of a millimetre-scale flapping-wing robot. Simplified models describing the disturbance effects on the robot's dynamics are proposed, together with two disturbance rejection schemes capable of estimating and compensating for the disturbances. The proposed methods are experimentally verified. The results show that these strategies reduced the root-mean-square position errors by more than 50% when the robot was subject to 80 cm s −1 horizontal wind. The analysis of flight data suggests that modulation of wing kinematics to stabilize the flight in the presence of wind gusts may indirectly contribute an additional stabilizing effect, reducing the time-averaged aerodynamic drag experienced by the robot. A benchtop experiment was performed to provide further support for this observed phenomenon.

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