scholarly journals A Biologically-Inspired Dynamic Legged Locomotion With a Modular Reconfigurable Robot

2008 ◽  
Author(s):  
Jimmy Sastra ◽  
Willy Giovanni Bernal Heredia ◽  
Jonathan Clark ◽  
Mark Yim
Keyword(s):  
Experimental Data ◽  
Dynamic Simulation ◽  
Control Strategy ◽  
Legged Locomotion ◽  
Modular Robots ◽  
Robot Design ◽  
Biologically Inspired ◽  
Reconfigurable Robot ◽  
Robot Configuration ◽  
And Control

Reconfigurable Modular robots can adapt their morphologies and their gaits for locomotion through different environments, whether like a snake for moving through constrained spaces or in a wheel-like shape for efficient and fast rolling on flat terrain. This paper proposes a new, scalable biologically-inspired legged style of locomotion for this class of robots. Passively compliant leg attachments are utilized to achieve a dynamic running gait using body articulation. A dynamic simulation as well as experimental data showing that we have achieved stable dynamic locomotion is presented. Although the robot design and control strategy are, in principle, scalable to any number of leg pairs, results are given for a hexapedal robot configuration. This prototype represents the first example of dynamic legged locomotion driven only by body articulation.

CONCEPT AND DESIGN OF THE BIOBIPED1 ROBOT FOR HUMAN-LIKE WALKING AND RUNNING

2011 ◽  
Vol 08 (03) ◽  
pp. 439-458 ◽  
Author(s):  
KATAYON RADKHAH ◽  
CHRISTOPHE MAUFROY ◽  
MORITZ MAUS ◽  
DORIAN SCHOLZ ◽  
ANDRE SEYFARTH ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Human Locomotion ◽  
Robot Design ◽  
Feedback Controls ◽  
Biologically Inspired ◽  
New Approach ◽  
Locomotor System ◽  
Ankle Joints ◽  
Muscle Groups ◽  
And Control

Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (such as walking and running) and control paradigms (such as flexible combination of feedforward and feedback controls strategies) and reliance on stabilizing properties of compliant gaits. As a new approach of transferring this knowledge into a humanoid robot, the design and implementation of the first of a planned series of biologically inspired, compliant, and musculoskeletal robots is presented in this paper. Its three-segmented legs are actuated by compliant mono- and biarticular structures, which mimic the main nine human leg muscle groups, by applying series elastic actuation consisting of cables and springs in combination with electrical actuators. By means of this platform, we aim to transfer versatile human locomotion abilities, namely running and later on walking, into one humanoid robot design. First experimental results for passive rebound, as well as push-off with active knee and ankle joints, and synchronous and alternate hopping are described and discussed. BioBiped1 will serve for further evaluation of the validity of biomechanical concepts for humanoid locomotion.

Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms

2020 ◽  
Vol 1 (2) ◽  
Author(s):  
Amir Iqbal ◽  
Zhu Mao ◽  
Yan Gu
Keyword(s):  
Rigid Body ◽  
Dynamic Model ◽  
Control Strategy ◽  
Initial Conditions ◽  
Legged Locomotion ◽  
Force Model ◽  
Slip Model ◽  
Modeling Analysis ◽  
And Control ◽  
Slip Motion

Abstract The complex dynamic behaviors of legged locomotion on stationary terrain have been extensively analyzed using a simplified dynamic model called the spring-loaded inverted pendulum (SLIP) model. However, legged locomotion on dynamic platforms has not been thoroughly investigated even by using a simplified dynamic model such as SLIP. In this paper, we present the modeling, analysis, and control of a SLIP model running on dynamic platforms. Three types of dynamic platforms are considered: (a) a sinusoidally excited rigid-body platform; (b) a spring-supported rigid-body platform; and (c) an Euler–Bernoulli beam. These platforms capture some important domains of real-world locomotion terrain (e.g., harmonically excited platforms, suspended floors, and bridges). The interaction force model and the equations of motion of the SLIP-platform systems are derived. Numerical simulations of SLIP running on the three types of dynamic platforms reveal that the platform movement can destabilize the SLIP even when the initial conditions of the SLIP motion are within the domain of attraction of its motion on flat, stationary platforms. A simple control strategy that can sustain the forward motion of a SLIP on dynamic platforms is then synthesized. The effectiveness of the proposed control strategy in sustaining SLIP motion on dynamic platforms is validated through simulations.

ADAMS/MATLAB Co-Simulation: Dynamic Systems Analysis and Control Tool

2012 ◽  
Vol 232 ◽  
pp. 527-531 ◽  
Author(s):  
L. Ángel ◽  
M.P. Pérez ◽  
C. Díaz-Quintero ◽  
C. Mendoza
Keyword(s):  
Simulation Model ◽  
Dynamic Simulation ◽  
Dynamic Systems ◽  
Control Strategy ◽  
Systems Analysis ◽  
Double Pendulum ◽  
Simulation Methodology ◽  
Development And Validation ◽  
And Control ◽  
Control Tool

In this paper a dynamic simulation methodology of systems is presented by using ADAMS/MATLAB co-simulation. This methodology allows simulation, development and validation of different control strategiesfor robotic manipulator models in a fast way. It provides a first stage into the design of robotic prototypes for researchers and professionals. Finally, the methodology was validated by constructing a simulation model of a double pendulum and by implementing a PD type control strategy.

Dynamic Simulation and Control Strategy of Centrifugal Flying Shear

2009 ◽  
Vol 16-19 ◽  
pp. 278-282
Author(s):  
Jin Chun Song ◽  
Chang Zhou Wang ◽  
Dong Xu
Keyword(s):  
Dynamic Simulation ◽  
Control Strategy ◽  
Optimization Design ◽  
Three Dimensional ◽  
Three Dimensional Model ◽  
Production Lines ◽  
Electronic Control System ◽  
Working Principle ◽  
Parameter Optimization Design ◽  
And Control

Centrifugal Flying Shear is one of the most advanced equipments, which is widely used in tandem mill production lines because of its simple structure and high shearing precision. In this paper, the working principle of the centrifugal flying shear was introduced; the three-dimensional model of the centrifugal flying shear was established; the structural analysis and the dynamic simulation of the flying shear, with the movement rule and trajectory, were made based on MATLAB/SimMechanics and Solidworks/COSMOS Motion; and the control strategy of realizing scale shearing was proposed. The results obtained provide theoretical basis for design of the electronic control system, and facilitate further analysis of the shearing process and parameter optimization design of similar flying shears.

Dry chip feedrate control using online chip moisture

TAPPI Journal ◽  
2018 ◽  
Vol 17 (05) ◽  
pp. 295-305
Author(s):  
Wesley Gilbert ◽  
Ivan Trush ◽  
Bruce Allison ◽  
Randy Reimer ◽  
Howard Mason
Keyword(s):  
Production Rate ◽  
Control Strategy ◽  
Rate Control ◽  
Near Infrared ◽  
Dry Mass ◽  
The Other ◽  
Process Variability ◽  
Moisture Sensor ◽  
Feedback Control Strategy ◽  
And Control

Normal practice in continuous digester operation is to set the production rate through the chip meter speed. This speed is seldom, if ever, adjusted except to change production, and most of the other digester inputs are ratioed to it. The inherent assumption is that constant chip meter speed equates to constant dry mass flow of chips. This is seldom, if ever, true. As a result, the actual production rate, effective alkali (EA)-to-wood and liquor-to-wood ratios may vary substantially from assumed values. This increases process variability and decreases profits. In this report, a new continuous digester production rate control strategy is developed that addresses this shortcoming. A new noncontacting near infrared–based chip moisture sensor is combined with the existing weightometer signal to estimate the actual dry chip mass feedrate entering the digester. The estimated feedrate is then used to implement a novel feedback control strategy that adjusts the chip meter speed to maintain the dry chip feedrate at the target value. The report details the results of applying the new measurements and control strategy to a dual vessel continuous digester.

Sign in / Sign up

Export Citation Format

Share Document