scholarly journals Effect Of Rear Leg Morphology On Energetics Of A Quadrupedal Robot

2021 ◽  
Author(s):  
Jamil Jivraj
Keyword(s):  
Legged Robots ◽  
Performance Difference ◽  
Normal Configuration ◽  
Simulation Results ◽  
Localization Data ◽  
Leg Morphology

Many biomimetic legged robots exist, but their leg designs appear to be arbitrarily chosen. Here, we examine the performance difference between a canine-inspired rear leg in its normal configuration versus the same leg in a transverse-mirrored configuration. A quadrupedal robot was built to test this hypothesis; the robot was successfully able to walk in with both rear-leg configurations. Successful telemetry of energy and localization data was also demonstrated. Both experimental and simulation results confirm that the transverse-mirrored configuration is faster and more efficient. In experiment the robot achieved speeds of up to 0.4 m/s versus 0.33 m/s, and specific resistances of 3.9 versus 5.1 in transverse and normal experiments, respectively. It is suggested here that the transverse-mirrored configuration, which engages the knee spring more than the normal configuration, be used in designs which require higher speeds and greater efficiencies.

scholarly journals Effect Of Rear Leg Morphology On Energetics Of A Quadrupedal Robot

2021 ◽  
Author(s):  
Jamil Jivraj
Keyword(s):  
Legged Robots ◽  
Performance Difference ◽  
Normal Configuration ◽  
Simulation Results ◽  
Localization Data ◽  
Leg Morphology

Many biomimetic legged robots exist, but their leg designs appear to be arbitrarily chosen. Here, we examine the performance difference between a canine-inspired rear leg in its normal configuration versus the same leg in a transverse-mirrored configuration. A quadrupedal robot was built to test this hypothesis; the robot was successfully able to walk in with both rear-leg configurations. Successful telemetry of energy and localization data was also demonstrated. Both experimental and simulation results confirm that the transverse-mirrored configuration is faster and more efficient. In experiment the robot achieved speeds of up to 0.4 m/s versus 0.33 m/s, and specific resistances of 3.9 versus 5.1 in transverse and normal experiments, respectively. It is suggested here that the transverse-mirrored configuration, which engages the knee spring more than the normal configuration, be used in designs which require higher speeds and greater efficiencies.

scholarly journals Tag Localization with Asynchronous Inertial-Based Shifting and Trilateration

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5204
Author(s):  
Alma’aitah ◽  
Eslim ◽  
Hassanein
Keyword(s):  
Low Power ◽  
Indoor Localization ◽  
State Of The Art ◽  
Location Estimation ◽  
Object Localization ◽  
Personal Area Networks ◽  
Matlab Simulation ◽  
Tag Localization ◽  
Simulation Results ◽  
Localization Data

Personal Area Networks (PAN) are key topologies in pervasive Internet of Things (IoT) localization applications. In the numerous object localization techniques, centralization and synchronization between the elements are assumed. In this paper, we leverage crowdsourcing from multiple fixed and mobile elements to enhance object localization. A cooperative crowdsourcing scheme is proposed to localize mobile low power tags using distributed and mobile/fixed readers for GPS assisted environments (i.e., outdoor) and fixed readers for indoors. We propose Inertial-Based Shifting and Trilateration (IBST) technique to provide an accurate reckoning of the absolute location of mobile tags. The novelty in our technique is its capability to estimate tag locations even when the tag is not covered by three readers to perform trilateration. In addition, IBST provides scalability since no processing is required by the low power tags. IBST technique is validated through extensive simulations using MATLAB. Simulation results show that IBST consistently estimates location, while other indoor localization solutions fail to provide such estimates as the state-of-the-art techniques require localization data to be available simultaneously to provide location estimation.

WCPG: A Central Pattern Generator for Legged Robots Based on Workspace Intentions

2011 ◽  
Author(s):  
Victor Barasuol ◽  
Victor Juliano De Negri ◽  
Edson Roberto De Pieri
Keyword(s):  
Central Pattern Generator ◽  
Physical Meaning ◽  
Pattern Generator ◽  
Quadruped Robot ◽  
Legged Robots ◽  
Coupling Relationship ◽  
Simulation Results

In this paper it is proposed a central pattern generator (CPG) based on workspace intentions, where the parameters of modulation have physical meaning and the walking can be adapted to overcome irregular terrains by changing few parameters. The walking features are independently modulated since there is no coupling relationship among WCPG parameters. Simulation results are presented to demonstrate the WCPG performance for a simplified quadruped robot model in different terrains.

Simulation on Performance of Sequential Turbocharging Diesel Engine with Inlet and Exhaust Bypass System

2014 ◽  
Vol 490-491 ◽  
pp. 464-467
Author(s):  
Xin Jie Cui ◽  
Shi Dong Zhang ◽  
Fan Shi ◽  
Chuan Lei Yang
Keyword(s):  
Diesel Engine ◽  
Engine Performance ◽  
Performance Difference ◽  
Part Load ◽  
Low Load ◽  
Simulation Results

Sequential turbocharging and inlet/exhaust bypass (STC-CAB) were composited to used on diesel engine, which can expand engine running area in part load and optimize the matching of turbocharger and diesel engine. The simulation was studied based on GT-POWER software in order to investigate the engine performance difference caused by stc-cab system. The simulation results showed that STC-CAB system can make the compressor away from surge area and expand diesel engine running area, improve the performance of torque in low load.

Fault tolerance criteria and walking capability analysis of a novel parallel-parallel hexapod break walking robot

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 619-633 ◽  
Author(s):  
Yang Pan ◽  
Feng Gao ◽  
Hui Du
Keyword(s):  
Fault Tolerance ◽  
Parallel Mechanism ◽  
Fault Tolerant ◽  
Legged Robots ◽  
Harsh Environments ◽  
Walking Robot ◽  
Passive Joint ◽  
Actuation System ◽  
Capability Analysis ◽  
Simulation Results

SUMMARYFault tolerance is a very important issue for legged robots, especially in some harsh environments. One of the most fragile parts is the actuation system. There are two common faults of robot actuators: (1) the motor is locked and could not move anymore; (2) the motor is uncontrollable and can be treated as a passive joint. In this paper, we first discuss all fault combinations of a single leg of a hexapod walking robot with parallel-parallel mechanism topology. Then, the leg tolerable criterion is brought out, which defines whether a leg is fault tolerant. After that, the fault tolerance of the whole robot is researched, and we found that the robot can walk with one tolerable leg or two opposite tolerable legs. Finally, relative simulation results are given, which show the robot walk with one or two broken legs.

A method to improve the productivity of legged manipulators performing on-site manufacturing tasks on large-scale structures

2020 ◽  
pp. 095440622094745
Author(s):  
Yuan Hu ◽  
Weizhong Guo ◽  
Hao Chen ◽  
Xiaolong Jing
Keyword(s):  
Large Scale ◽  
Large Scale Structure ◽  
Parallel Robot ◽  
Scale Structure ◽  
Legged Robots ◽  
End Effector ◽  
Large Scale Structures ◽  
Structure Simulation ◽  
Scale Structures ◽  
Simulation Results

Legged manipulators that combine legged robots with manipulators have emerged as a new solution to large-scale structure on-site manufacturing tasks. However, the productivity of legged manipulators is strongly affected by the positioning and repositioning process. This paper aims to improve the productivity of legged manipulators by reducing the required positioning and repositioning times. By treating a legged manipulator that attaches all feet to the ground as a virtual parallel robot, the workspace of the on-board manipulator can be enlarged while the end-effector maintains the motion precision. By choosing working positions that enable a legged manipulator to cover more processing regions with the enlarged workspace at a time, the required positioning and repositioning times can be reduced. The proposed method is implemented through a variant of a genetic algorithm to find the minimum set of working positions that enable a hexapod manipulator to accomplish welding tasks on a large-scale structure. Simulation results show that the required working positions of the hexapod manipulator are reduced significantly and thus higher productivity can be obtained. The flowchart to implement the proposed method is expected to improve the productivity of other kinds of legged manipulators that perform on-site manufacturing tasks.

Losses of atrazine, metolachlor, prosulfuron and triasulfuron in subsurface drain water. II. Simulation results

Agronomie ◽  
2002 ◽  
Vol 22 (4) ◽  
pp. 413-425 ◽  
Author(s):  
Matteo Balderacchi ◽  
Ghasam Alavi ◽  
Ettore Capri ◽  
Alberto Vicari ◽  
Cesare Accinelli ◽  
...  
Keyword(s):  
Drain Water ◽  
Simulation Results

Study and design of dual stator permanent magnet machine with spoke-type configurations using phase-group concentrated-coil windings

2020 ◽  
Vol 64 (1-4) ◽  
pp. 1381-1389
Author(s):  
Dezhi Chen ◽  
Chengwu Diao ◽  
Zhiyu Feng ◽  
Shichong Zhang ◽  
Wenliang Zhao
Keyword(s):  
Permanent Magnet ◽  
Permanent Magnets ◽  
Low Cost ◽  
Dynamic Performance ◽  
Torque Ripple ◽  
Permanent Magnet Machine ◽  
Torque Density ◽  
Phase Group ◽  
High Torque ◽  
Simulation Results

In this paper, a novel dual-stator permanent magnet machine (DsPmSynM) with low cost and high torque density is designed. The winding part of the DsPmSynM adopts phase-group concentrated-coil windings, and the permanent magnets are arranged by spoke-type. Firstly, the winding structure reduces the amount of copper at the end of the winding. Secondly, the electromagnetic torque ripple of DsPmSynM is suppressed by reducing the cogging torque. Furthermore, the dynamic performance of DsPmSynM is studied. Finally, the experimental results are compared with the simulation results.

WS-Security on PRODML

2014 ◽  
Vol 1 (1) ◽  
pp. 9-34
Author(s):  
Bobby Suryajaya
Keyword(s):  
Web Services ◽  
Digital Signature ◽  
Data Transfer ◽  
Web Services Security ◽  
Soap Message ◽  
Simulation Results ◽  
End To End

SKK Migas plans to apply end-to-end security based on Web Services Security (WS-Security) for Sistem Operasi Terpadu (SOT). However, there are no prototype or simulation results that can support the plan that has already been communicated to many parties. This paper proposes an experiment that performs PRODML data transfer using WS-Security by altering the WSDL to include encryption and digital signature. The experiment utilizes SoapUI, and successfully loaded PRODML WSDL that had been altered with WSP-Policy based on X.509 to transfer a SOAP message.

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