Nonlinear Oscillator-Based Gait Generation for a Novel Aero-Terrestrial Bioinspired Robotic System

Abstract This paper focuses on the design of a novel aero-terrestrial robotic system based on the morphology of the Hymenoptera order insects and, particularly, on a strategy based on nonlinear oscillators for the coordination of its 12 terrestrial degrees-of-freedom (DoF). The ability of this new aero-terrestrial robot to, successfully, perform the walking process is validated through numerical simulations and tests performed on an experimental platform in which the gait speed was varied from 0.04 to 0.2 m/s. Some of the most important qualities of this robotic system are a relatively simple design with only 2 DoF per leg and a versatile terrestrial locomotion with the ability to vary its speed and direction in real-time with smooth transitions. Furthermore, unlike existent similar systems, the robot is designed to initiate a flight phase in any position without adopting particular postures avoiding undesirable interferences with the walking configuration.

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Stochastic optimal control for first-passage failure of nonlinear oscillators with multi-degrees-of-freedom

Journal of Shanghai Jiaotong University (Science) ◽

10.1007/s12204-013-1428-8 ◽

2013 ◽

Vol 18 (5) ◽

pp. 577-582

Author(s):

Yang-yan Gao ◽

Yong-jun WU

Keyword(s):

Optimal Control ◽

Stochastic Optimal Control ◽

Degrees Of Freedom ◽

Nonlinear Oscillators ◽

First Passage ◽

First Passage Failure

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Construction of a Six-Degrees-of-Freedom Parallel Manipulator With Three Planarly Actuated Links

Volume 2B: 24th Biennial Mechanisms Conference ◽

10.1115/96-detc/mech-1561 ◽

1996 ◽

Author(s):

Ronen Ben-Horin ◽

Moshe Shoham

Keyword(s):

Parallel Manipulator ◽

High Performance ◽

Degrees Of Freedom ◽

Parallel Robot ◽

Simple Design ◽

Output Link ◽

Coordinated Motion ◽

Six Degrees Of Freedom ◽

Work Volume ◽

New Type

Abstract The construction of a new type of a six-degrees-of-freedom parallel robot is presented in this paper. Coordinated motion of three planar motors, connected to three fixed-length links, produces a six-degrees-of-freedom motion of an output link. Its extremely simple design along with much larger work volume make this high performance-to-simplicity ratio robot very attractive.

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Smart and Modular

Mechanical Engineering ◽

10.1115/1.2011-sep-4 ◽

2011 ◽

Vol 133 (09) ◽

pp. 48-51

Author(s):

Harry H. Cheng ◽

Graham Ryland ◽

David Ko ◽

Kevin Gucwa ◽

Stephen Nestinger

Keyword(s):

Degrees Of Freedom ◽

Robotic System ◽

Search And Rescue ◽

Degree Of Freedom ◽

Robotic Systems ◽

Modular Robots ◽

Modular Robot ◽

Modular Systems ◽

The Past ◽

Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

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Computation of the adiabatic invariant of the symmetric nonlinear oscillator $$d^2y \over dt^2+Q(\epsilon t)y^n=R(\epsilon t)y^m$$

European Journal of Applied Mathematics ◽

10.1017/s0956792597003379 ◽

1998 ◽

Vol 9 (2) ◽

pp. 187-194

Author(s):

J. HU

Keyword(s):

Nonlinear Oscillator ◽

Nonlinear Oscillators ◽

Adiabatic Invariant ◽

Strongly Nonlinear ◽

Strongly Nonlinear Oscillators

In a recent paper, the author showed that for certain symmetric bisuperlinear equations, cosine-like boundary behaviours will not yield symmetric solutions [1]. In this paper, we attack the adiabatic invariant problem by showing that, for these strongly nonlinear oscillators, the adiabatic invariant is intimately related to z′(0;∈) for a family of solutions.

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Optimizing Fourier Series Based Gaits for Modular Robots Using an Evolutionary Algorithm

Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications ◽

10.1115/detc2013-13653 ◽

2013 ◽

Author(s):

David Ko ◽

Harry H. Cheng

Keyword(s):

Genetic Algorithm ◽

Fourier Series ◽

Evolutionary Algorithm ◽

Periodic Motion ◽

Degrees Of Freedom ◽

Series Representation ◽

Robotic System ◽

Experimental Results ◽

New Method ◽

Modular Robots

A new method of controlling and optimizing robotic gaits for a modular robotic system is presented in this paper. A robotic gait is implemented on a robotic system consisting of three Mobot modules for a total of twelve degrees of freedom using a Fourier series representation for the periodic motion of each joint. The gait implementation allows robotic modules to perform synchronized gaits with little or no communication with each other making it scalable to increasing numbers of modules. The coefficients of the Fourier series are optimized by a genetic algorithm to find gaits which move the robot cluster quickly and efficiently across flat terrain. Simulated and experimental results show that the optimized gaits can have over twice as much speed as randomly generated gaits.

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MBARS2: A New Design for a 3- Degrees of Freedom Parallel Structure for Joint Arthroplasty

Volume 4: Fatigue and Fracture; Fluids Engineering; Heat Transfer; Mechatronics; Micro and Nano Technology; Optical Engineering; Robotics; Systems Engineering; Industrial Applications ◽

10.1115/esda2008-59364 ◽

2008 ◽

Author(s):

A. Wolf ◽

S. Amir ◽

A. B. Mor

Keyword(s):

Coordinate System ◽

Inverse Kinematics ◽

Degrees Of Freedom ◽

Joint Arthroplasty ◽

Robotic System ◽

Parallel Structure ◽

Tracking Systems ◽

Mechanical Structure ◽

Workspace Analysis

In this report we present the second prototype of a 3-degrees-of-freedom active, miniature bone-attached, robotic system. The report focuses on the mechanical structure, workspace analysis and inverse kinematics solution. The robot is capable of preparing the bone cavity for an implant during joint arthroplasty procedures. This system, just as its predecessor is image-free and all planning is performed intraoperatively in the robot coordinate system, eliminating the need for external tracking systems in the OR. Experiments were conducted using the first robot prototype to evaluate its accuracy and the results supported the feasibility of the concept.

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Coordinated Motion Planning of Legged Mobile Manipulator for Tracking the Given End-Effector’s Trajectory

Volume 4: Dynamics, Vibration, and Control ◽

10.1115/imece2019-11170 ◽

2019 ◽

Author(s):

Kondalarao Bhavanibhatla ◽

Sulthan Suresh-Fazeela ◽

Dilip Kumar Pratihar

Keyword(s):

Motion Planning ◽

Degrees Of Freedom ◽

Robotic System ◽

Simulation Software ◽

Body Motion ◽

Whole Body ◽

Mobile Manipulator ◽

Coordinated Motion ◽

Multibody Dynamic ◽

The Given

Abstract In this paper, a novel algorithm is presented to achieve the coordinated motion planning of a Legged Mobile Manipulator (LMM) for tracking the given end-effector’s trajectory. LMM robotic system can be obtained by mounting a manipulator on the top of a multi-legged platform for achieving the capabilities of both manipulation and mobility. To exploit the advantages of these capabilities, the manipulator should be able to accomplish the task, while the hexapod platform moves simultaneously. In the presented approach, the whole-body motion planning is achieved in two steps. In the first step, the robotic system is assumed to be a mobile manipulator, in which the manipulator has two additional translational degrees of freedom at the base. The redundancy of this robotic system is solved by treating it as an optimization problem. Then, in the second step, the omnidirectional motion of the legged platform is achieved with a combination of straight forward and crab motions. The proposed algorithm is tested through a numerical simulation in MATLAB and then, validated on a virtual model of the robot using multibody dynamic simulation software, MSC ADAMS. Multiple trajectories of the end-effector have been tested and the results show that the proposed algorithm accomplishes the given task successfully by providing a singularity-free whole-body motion.

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