scholarly journals Gait Generation and Control of a Hexapod Walking Robot

2014 ◽  
Vol 8 (1) ◽  
pp. 335-341 ◽  
Author(s):  
Yu Ya-xin ◽  
Jin Bo
Keyword(s):  
Control System ◽  
Kinematic Model ◽  
Energetic Cost ◽  
Walking Robot ◽  
Human Machine Interaction ◽  
Gait Patterns ◽  
Gait Generation ◽  
Position Data ◽  
And Control ◽  
Coordination Layer

In this paper, the mechanical structure of a hexapod walking robot is presented and the kinematic model is established. The foot trajectory of each leg, which is optimized by genetic algorithms to minimize energetic cost, was proposed with two different gait patterns applied. Control system was divided into coordination-layer and execution-layer. Coordination-layer, was a PC responsible, for whole system’s regulation. It could calculate each joint’s expected trajectory according to user’s definitions, and then transmitted object position data to execution-layer through serial port. The execution- layer used LPC2132 based on ARM7 for core controller. Control system realized the human-machine interaction, gait generation, complex kinematic calculation and servomotor control. Experimental results of the robot shows that it could walk smoothly without obvious body undulation.

scholarly journals Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989132
Author(s):  
Ivan Chavdarov ◽  
Bozhidar Naydenov
Keyword(s):  
Control System ◽  
Walking Robots ◽  
Energy Losses ◽  
Simple Design ◽  
Walking Robot ◽  
Minimum Number ◽  
And Control ◽  
Original Concept ◽  
Dimensional Optimization

The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors. Described are basic geometric and kinematic dependencies related to its movement. It is proposed optimization of basic dimensions of the robot in order to reduce energy losses when moving on flat terrain. Developed and produced is a 3-D printed prototype of the robot. Simulation and experiments for overcoming an obstacle are presented. Trajectories and instantaneous velocities centers of links from the robot are experimentally determined. The phases of walking and the stages of overcoming an obstacle are described. The theoretical and experimental results are compared. The suggested dimensional optimization approaches to reduce energy loss and experimental determination of the instant center of rotation are also applicable to other walking robots.

scholarly journals A Low-Cost Anthropometric Walking Robot for Reproducing Gait Lab Data

2008 ◽  
Vol 5 (4) ◽  
pp. 187-194
Author(s):  
Rogério Eduardo da Silva Santana ◽  
Agenor de Toledo Fleury ◽  
Luciano Luporini Menegaldo
Keyword(s):  
Low Cost ◽  
Biped Robot ◽  
Human Gait ◽  
Walking Robot ◽  
Gait Patterns ◽  
Biped Walking Robot ◽  
Human Gait Analysis ◽  
And Control ◽  
Cost Components ◽  
Design Construction

Human gait analysis is one of the resources that may be used in the study and treatment of pathologies of the locomotive system. This paper deals with the modelling and control aspects of the design, construction and testing of a biped walking robot conceived to, in limited extents, reproduce the human gait. Robot dimensions have been chosen in order to guarantee anthropomorphic proportions and then to help health professionals in gait studies. The robot has been assembled with low-cost components and can reproduce, in an assisted way, real-gait patterns generated from data previously acquired in gait laboratories. Part of the simulated and experimental results are addressed to demonstrate the ability of the biped robot in reproducing normal and pathological human gait.

Modeling and Control System Simulation for 7-Link Biped Robot

2013 ◽  
Vol 431 ◽  
pp. 262-268
Author(s):  
Chuang Feng Huai ◽  
Xue Yan Jia
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Biped Robot ◽  
Stable Region ◽  
Walking Robot ◽  
Biped Walking ◽  
Modeling And Control ◽  
Ground Conditions ◽  
Biped Walking Robot ◽  
And Control

Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.

The Measurement and Control System of Agricultural Greenhouse Based on Network

2014 ◽  
Vol 926-930 ◽  
pp. 1488-1492
Author(s):  
Xiao Fang ◽  
Lin Chen ◽  
Hong Zhi Yin
Keyword(s):  
Control System ◽  
High Reliability ◽  
Carbon Dioxide Concentration ◽  
Network Control ◽  
Signal Acquisition ◽  
Human Machine Interaction ◽  
Measurement And Control System ◽  
And Control ◽  
Measurement And Control ◽  
Machine Interaction

A network measurement and control system based on STM32 is designed for the control of greenhouse temperature, humidity, carbon dioxide concentration, etc. ModbusRTU serial bus is used for managing the greenhouse environment instrumentation network and signal acquisition. The remote control of greenhouse is achieved by LWIP Ethernet and Modbus/TCP communication protocol, and the network control of multispan greenhouse is realized by them. MCGS(Monitorand Control Generated System) is used for the design of human machine interaction. The control system can reach producing requirements, high reliability, easy to operate and maintain.

Development of a Jacobian Module for Advanced Pulp and Paper Simulation and Control

TAPPI Journal ◽  
2009 ◽  
Vol 8 (1) ◽  
pp. 4-11
Author(s):  
MOHAMED CHBEL ◽  
LUC LAPERRIÈRE
Keyword(s):  
Control System ◽  
Nonlinear Behavior ◽  
Simulation Software ◽  
Pulp And Paper ◽  
Pid Controllers ◽  
Tuning Parameters ◽  
Pid Tuning ◽  
Fixed Set ◽  
And Control ◽  
Operating Points

Pulp and paper processes frequently present nonlinear behavior, which means that process dynam-ics change with the operating points. These nonlinearities can challenge process control. PID controllers are the most popular controllers because they are simple and robust. However, a fixed set of PID tuning parameters is gen-erally not sufficient to optimize control of the process. Problems related to nonlinearities such as sluggish or oscilla-tory response can arise in different operating regions. Gain scheduling is a potential solution. In processes with mul-tiple control objectives, the control strategy must further evaluate loop interactions to decide on the pairing of manipulated and controlled variables that minimize the effect of such interactions and hence, optimize controller’s performance and stability. Using the CADSIM Plus™ commercial simulation software, we developed a Jacobian sim-ulation module that enables automatic bumps on the manipulated variables to calculate process gains at different operating points. These gains can be used in controller tuning. The module also enables the control system designer to evaluate loop interactions in a multivariable control system by calculating the Relative Gain Array (RGA) matrix, of which the Jacobian is an essential part.

Еlectric Drive and Control System of Flying saw of electricweld item

2015 ◽  
Vol 19 (95) ◽  
pp. 50-53
Author(s):  
Aleksej A. Kravcov ◽  
◽  
Leonid G. Limonov ◽  
Valerij V. Sinelnikov ◽  
Stanislav V. Potapov
Keyword(s):  
Control System ◽  
Drive And Control ◽  
And Control
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