Walking Machine Design Based on Certain Aspects of Insect Leg Design

1992 ◽  
Author(s):  
E. F. Fichter ◽  
D. R. Kerr
Keyword(s):  
Control System ◽  
Observational Data ◽  
The Body ◽  
Static Equilibrium ◽  
Machine Design ◽  
Ground Contact ◽  
Careful Attention ◽  
Equilibrium Equations ◽  
Walking Machine ◽  
Leg Design

Abstract A walking machine design originating from observations of insects is presented. The primary concept derived from insects is a leg used to apply force to the body without applying significant moments about the point of body attachment. This is accomplished with legs which have kinematic equivalents to ball-and-socket joints at body attachment and ground contact, with joints in the middle which only change distance between body and ground. Standing and walking with 6 legs of this design requires careful attention to static equilibrium equations but does not necessitate a control system which actively distributes forces to the legs. This paper considers necessary observational data, assumptions on which control is based, mathematical development for control and problems such as foot slip.

Static Equilibrium of a Fluid-Saturated Porous Solid

1980 ◽  
Vol 47 (3) ◽  
pp. 493-495 ◽  
Author(s):  
J. T. Jenkins
Keyword(s):  
Free Energy ◽  
Variational Method ◽  
Total Energy ◽  
Elastic Solid ◽  
The Body ◽  
Porous Solid ◽  
Static Equilibrium ◽  
Equilibrium Equations

The equilibrium equations for a fluid-saturated, porous elastic solid are obtained by a variational method. The total energy of the body is assumed to be the sum of that of the fluid and that of the solid, and the free energy of the solid is taken to be sensitive to its porosity.

Walking machine leg design: The effect of leg geometry on knee torque

1999 ◽  
Vol 213 (6) ◽  
pp. 581-590
Author(s):  
D Howard ◽  
S J Zhang ◽  
D J Sanger ◽  
J Q Chen
Keyword(s):  
Mechanism Design ◽  
Mechanical Design ◽  
Machine Design ◽  
Loading Conditions ◽  
Trade Off ◽  
Walking Machine ◽  
Mathematical Analyses ◽  
Actuator Design ◽  
Leg Design ◽  
The Relationship

The authors have been studying the fundamental mechanics of legged vehicles with the aim of establishing generic principles for their mechanical design. The approach to date has been to consider overall machine design and leg mechanism design separately. In leg design there is inevitably a trade-off between workspace (reach) and leg weight for given loading conditions. To understand this trade-off, the effects of leg geometry on both kinematic workspace and leg weight must be investigated. Leg weight is largely a function of the hip and knee design torques; the former is determined by the overall machine design which has been discussed elsewhere. This paper considers the effect of leg geometry on the total design torque that the knee must support through both its structure and the knee actuator. The actuator design torque is also considered. The leg geometry varied includes link lengths and knee twist angles. The necessary mathematical analyses are developed and data presented showing the relationship between knee or actuator torque and leg geometry.

Application of PLC in the Expressway Intelligent Traffic Control System

2013 ◽  
Vol 361-363 ◽  
pp. 2219-2223
Author(s):  
Xin Hua Wei ◽  
Xian Xing Duan ◽  
Xiao Kan Wang
Keyword(s):  
Control System ◽  
Traffic Control ◽  
Flow Speed ◽  
The Body ◽  
Host Computer ◽  
Scientific Management ◽  
Traffic Lights ◽  
Traffic Control System ◽  
Vehicle Size ◽  
Sense Coil

The expressway intelligent traffic control system based on S7-200 series Programmable Logic Controller (PLC) was introduced in this paper.PLC has strong adaptability in the complex environment and rich internal timer resources, it is easily to realize accuracy controlling the traffic lights, specially for multi-crossroads.PLC analyzed and processed the signals of the body flow, speed, vehicle size and other data by the sense coil, then transmitting the information to the host computer. The host computer might automatically adjust the length of time from the final signal to achieve intelligent scientific management of traffic lights.

Leg Lift During Non-Overconstrained Pseudo-Static Walking

1996 ◽  
Author(s):  
Chee K. Foo ◽  
Eugene F. Fichter ◽  
Becky L. Fichter
Keyword(s):  
Position Control ◽  
The Body ◽  
Degree Of Freedom ◽  
Walking Machine

Abstract A non-overconstrained pseudo-static walking machine has 1 leg joint under position control for every degree-of-freedom of the body. When 1 joint is position controlled on each of 6 legs, leg lift during a step results in 1 unregulated degree-of-freedom of the body. A second joint in one of the 5 legs that maintain contact with the ground must be switched to active position control at the same time that a foot is lifted. In theory any passively controlled joint in the 5 supporting legs may be chosen. However the requirement that no leg be in tension and practical limits on torques available from joint actuators severely restrict choice of both additional joint to actively position control and possible body positions where legs can be lifted.

Optimal Synthesis and Analysis of a New Leg Mechanism: The Planetary Gear Leg

1992 ◽  
Author(s):  
Ning-Xin Chen ◽  
Shin-Ming Song
Keyword(s):  
Planetary Gear ◽  
Optimization Method ◽  
Maximum Deviation ◽  
Walking Machine ◽  
Straight Line ◽  
Force Moment ◽  
Good Energy ◽  
Line Trajectory ◽  
Leg Design ◽  
Straight Line Trajectory

Abstract The leg mechanism of a walking machine has a strong influence on the performance of the machine. A successful leg mechanism should be energy efficient, compact in size, strong and simple. In order to achieve good energy efficiency, a walking machine leg should be able to generate an exact or approximate straight line at the foot with only one driving actuator. This paper deals with the synthesis and analysis of a new leg mechanism — the planetary gear leg mechanism. Four types of planetary gear legs are studied. By the SUMT optimization method, a 20 inch tall leg is able to generate an approximate straight line trajectory with a maximum deviation of 0.12805 inches in a 20 inch stroke. The direct and inverse kinematics and velocities of the legs are analyzed. Also, the distribution of actuator force/moment during walking are studied. The results show that this leg design has great potential to be used as a practical walking machine leg.

Investigation of the interaction of car wheels with the stand rollers during braking

2021 ◽  
Vol 13 (1) ◽  
pp. 68-77
Author(s):  
Igor Мarmut ◽  
◽  
Andriy Kashkanov ◽  
Vitaliy Kashkanov ◽  
◽  
...  
Keyword(s):  
Traffic Safety ◽  
Technical Condition ◽  
The Body ◽  
Power Model ◽  
Equilibrium Equations ◽  
Design Features ◽  
Complex Objects ◽  
Passenger Cars ◽  
Wheel Drive ◽  
Four Wheel Drive

The article discusses the issues of modeling conditions for obtaining diagnostic information about complex objects. As an example, the study of the braking qualities of four-wheel drive cars on an inertial roller stand is considered. Diagnosing the technical condition of cars from the point of view of traffic safety is one of the most important problems. This is especially important for systems whose technical condition affects traffic safety: especially braking systems. Foreign and domestic experience testifies to the effectiveness of instrumental control. The diagnostic equipment includes roller stands, on which you can check the braking properties of cars. As shown by many studies, in particular, carried out at the Department of Technical Operation and Service of Automobiles, KhNADU (HADI), inertial stands provide more reliable information about the technical condition of the car. Such stands allow you to reproduce the real speed and thermal modes of the brakes (especially those equipped with ABS). To improve the accuracy of diagnosing a car on a roller stand, it is necessary to have an idea of the nature of the interaction of the car wheels with the rollers. The studies of wheel rolling on the stand rollers have been carried out by many authors since the 80s of the last century. However, all these studies were carried out on uniaxial stands and for mono-drive vehicles. Nowadays, a large number of passenger cars have four-wheel drive. Rolling of the wheels of such cars on rollers and their interaction has practically not been studied. Therefore, a return to the study of this issue is relevant. A power model of the system of interaction between the car and the stand has been developed, taking into account the design features of the stand and the design features of the car's suspension. The power model of the system under consideration contains the equilibrium equations of the body and two bridges and the equations of motion of the rollers and wheels of the car. Based on the results of the analysis of the acting forces in the "car-stand" system, the braking moments on the wheels M and the coefficients of the use of the load q during the braking tests of a 4x4 vehicle were determined. The obtained research results allowed to improve the theory of interaction of a car wheel with the rollers of an inertial diagnostic stand.

scholarly journals Regional Signal Recognition of Body Sounds

2021 ◽  
pp. 157-160
Author(s):  
Osman Balli ◽  
Yakup Kutlu
Keyword(s):  
Neural Network ◽  
Control System ◽  
Neural Network Model ◽  
External Environment ◽  
The Body ◽  
Educational Success ◽  
Digital Analysis ◽  
Signal Recognition ◽  
Audio Signals ◽  
Different Parts

One of the most important signals in the field of biomedicine is audio signals. Sound signals obtained from the body give us information about the general condition of the body. However, the detection of different sounds when recording audio signals belonging to the body or listening to them by doctors makes it difficult to diagnose the disease from these signals. In addition to isolating these sounds from the external environment, it is also necessary to separate their sounds from different parts of the body during the analysis. Separation of heart, lung and abdominal sounds will facilitate digital analysis, in particular. In this study, a dataset was created from the lungs, heart and abdominal sounds. MFCC (Mel Frekans Cepstrum Coefficient) coefficient data were obtained. The obtained coefficients were trained in the CNN (Convolution Neural Network) model. The purpose of this study is to classify audio signals. With this classification, a control system can be created. In this way, erroneous recordings that may occur when recording physicians' body voices will be prevented. When looking at the results, the educational success is about 98% and the test success is about 85%.

scholarly journals To Be Is To Become. Fractal Neurodynamics of the Body-Brain Control System

2020 ◽  
Vol 11 ◽  
Author(s):  
Franca Tecchio ◽  
Massimo Bertoli ◽  
Eugenia Gianni ◽  
Teresa L'Abbate ◽  
Luca Paulon ◽  
...  
Keyword(s):  
Control System ◽  
The Body

Trajectory Planning Realization for Multi-Legged Walking Machine's Leg

2009 ◽  
Vol 419-420 ◽  
pp. 629-632 ◽  
Author(s):  
Li Xun Zhang ◽  
Gang Wang ◽  
Li Quan Wang ◽  
Dong Liang Chen ◽  
De Feng Liu
Keyword(s):  
Control System ◽  
Trajectory Planning ◽  
Physical Simulation ◽  
Cubic Spline ◽  
Significant Part ◽  
Walking Machine

In this paper, multi-legged walking machine is simplified as one leg, which the whole machine is constructed by the modularization configuration of the legs in an axisymmetric way. Consequently, the control of one leg and its trajectory planning is the significant part for multi-legged walking machine. This paper, according to the structure of the walking machine's leg with 3-DOF open chains, calculates the terminal track of the leg using the principle of kinematics and presents a foot's controller based on dSPACE. In order to obtain the optimization of the foot's track, the three-cubic spline algorithm is considered. Depending on the model of the control system in Matlab, the paper provides a semi-physical simulation for a real leg using dSPACE. The feasibility of the planned track is demonstrated and the PID parameters have been adjusted.

Body Vibrations of a Legged Walking Machine

1992 ◽  
Author(s):  
Xiaochun Gao ◽  
Shin-Min Song
Keyword(s):  
The Body ◽  
Robotic Systems ◽  
Force Distribution ◽  
Walking Machine ◽  
Foot Force ◽  
Robot Hands ◽  
Machine Systems ◽  
External Loads ◽  
Wheeled Vehicles ◽  
Quadrupedal Walking

Abstract Unlike in wheeled vehicles, compliance in walking machine systems changes due to the variation of leg geometry, as its body proceeds. This variation in compliance will cause vibration, even if external loads remain constant. A theory is thus developed to predict the body vibrations of a walking machine during walking. On the other hand, dynamic foot forces under body vibrations can be computed by application of the existing numerical methods. As an example, the body vibrations of a quadrupedal walking chair under different walking conditions are simulated in terms of the developed theory. The results show that the influence of body vibrations on the foot force distribution is essential and, in some cases, the walking chair may lose its stability due to its body vibrations, even though it is identified to be stable in a quasi-static analysis. The developed theory can also be extended to other similar multi-limbed robotic systems, such as multi-fingered robot hands.

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