scholarly journals Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 29
Author(s):  
Vítor H. Pinto ◽  
José Gonçalves ◽  
Paulo Costa
Keyword(s):  
Design Process ◽  
Low Cost ◽  
Biologically Inspired ◽  
External Disturbances ◽  
State Space Approach ◽  
Modeling And Control ◽  
Locomotion System ◽  
Rigid Joints ◽  
And Control ◽  
Space Approach

This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system’s stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system’s design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

scholarly journals Design, Modeling, and Control of an Autonomous Legged-Wheeled Hybrid Robotic Vehicle with Non-Rigid Joints

2021 ◽  
Vol 11 (13) ◽  
pp. 6116
Author(s):  
Vítor H. Pinto ◽  
Inês N. Soares ◽  
Marco Rocha ◽  
José Lima ◽  
José Gonçalves ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Low Cost ◽  
Communication Strategy ◽  
Test Bed ◽  
Modeling And Control ◽  
Rotational Joint ◽  
Robotic Vehicle ◽  
Rigid Joints ◽  
And Control

This paper presents a legged-wheeled hybrid robotic vehicle that uses a combination of rigid and non-rigid joints, allowing it to be more impact-tolerant. The robot has four legs, each one with three degrees of freedom. Each leg has two non-rigid rotational joints with completely passive components for damping and accumulation of kinetic energy, one rigid rotational joint, and a driving wheel. Each leg uses three independent DC motors—one for each joint, as well as a fourth one for driving the wheel. The four legs have the same position configuration, except for the upper hip joint. The vehicle was designed to be modular, low-cost, and its parts to be interchangeable. Beyond this, the vehicle has multiple operation modes, including a low-power mode. Across this article, the design, modeling, and control stages are presented, as well as the communication strategy. A prototype platform was built to serve as a test bed, which is described throughout the article. The mechanical design and applied hardware for each leg have been improved, and these changes are described. The mechanical and hardware structure of the complete robot is also presented, as well as the software and communication approaches. Moreover, a realistic simulation is introduced, along with the obtained results.

scholarly journals Modeling and Control of a Thermoelectric Structure with a Peltier Element Subject to External Disturbances

2020 ◽  
Vol 53 (2) ◽  
pp. 7771-7776
Author(s):  
Alexander Gavrikov ◽  
Georgy Kostin ◽  
Harald Aschemann ◽  
Andreas Rauh
Keyword(s):  
External Disturbances ◽  
Peltier Element ◽  
Modeling And Control ◽  
And Control

scholarly journals Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot

2011 ◽  
Author(s):  
Gustavo Freitas ◽  
Fernando Lizarralde ◽  
Liu Hsu ◽  
Vitor Paranhos ◽  
Ney R. Salvi dos Reis ◽  
...  
Keyword(s):  
Legged Locomotion ◽  
Modeling And Control ◽  
Locomotion System ◽  
And Control

scholarly journals Modeling and Control of a Compliantly Engineered Anthropomimetic Robot in Contact Tasks

2011 ◽  
Author(s):  
Veljko Potkonjak ◽  
Kosta Jovanovic ◽  
Bratislav Svetozarevic ◽  
Owen Holland ◽  
Dusan Mikicic
Keyword(s):  
Mathematical Model ◽  
Nonlinear Control ◽  
Joint Motion ◽  
Biologically Inspired ◽  
Modeling And Control ◽  
Dc Motors ◽  
Mechanical Compliance ◽  
And Control ◽  
Contact Tasks ◽  
Robot Body

This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot’s joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot’s dynamics, starting from the “Flier” approach. The control of the antagonistic drives is based on a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply the theory of robustness in order to extend control to the multi-jointed robot body.

Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot

2012 ◽  
Author(s):  
Gustavo Freitas ◽  
Fernando Lizarralde ◽  
Liu Hsu ◽  
Vitor Paranhos ◽  
Ney R. Salvi dos Reis ◽  
...  
Keyword(s):  
Legged Locomotion ◽  
Modeling And Control ◽  
Locomotion System ◽  
And Control

scholarly journals Modeling and Control of a Micro AUV: Objects Follower Approach

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2574 ◽  
Author(s):  
Jesus Monroy-Anieva ◽  
Cyril Rouviere ◽  
Eduardo Campos-Mercado ◽  
Tomas Salgado-Jimenez ◽  
Luis Garcia-Valdovinos
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Low Cost ◽  
Closed Loop System ◽  
Depth Sensor ◽  
Modeling And Control ◽  
System A ◽  
Formal Stability ◽  
Proportional Derivative Controller ◽  
And Control

This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.

Dynamic System Simulation Using Distributed Computation Hardware

2016 ◽  
Author(s):  
Keith A. Williams
Keyword(s):  
Dynamic Systems ◽  
Low Cost ◽  
Computation Time ◽  
Practical Implementation ◽  
Modeling And Control ◽  
Digitally Programmable ◽  
Field Programmable ◽  
The Masses ◽  
And Control ◽  
Programmable Hardware

The availability of low-cost, readily programmable digital hardware offers numerous opportunities for novel modeling and control approaches. One such opportunity is the realization of hardware modeling of distributed dynamic systems. Such models could be useful for control algorithms that require high-fidelity models operating in real-time. The ultimate goal is to utilize digital systems with programmable hardware. As a proof-of-concept, multiple discrete microcontrollers have been used to emulate how programmable hardware devices may be used to simulate a distributed vibrating system. Specifically, each microcontroller is treated as a single vibrating mass with stiffness and damping coupling between the masses. Each microcontroller has associated position and velocity variables. The only additional knowledge required to compute the acceleration of each “mass” is thus the position and velocity of each immediate neighboring mass/microcontroller. The computation time is independent of the number of nodes; adding nodes results in no reduction in processing speed. Consequently, the computational approach will be applicable to very high order models. Practical implementation of such models will require digitally programmable hardware such as field-programmable gate arrays (FPGA), however an added benefit will be a still greater reduction in cost, as multiple microcontrollers are replaced by a single FPGA. It is expected that the hardware modeling approach described in this work will have application not only in the field of vibration modeling and control, but also in other fields where control of distributed dynamic systems is desired.

Modeling and control of biologically inspired flying robots

Robotica ◽  
2011 ◽  
Vol 30 (1) ◽  
pp. 107-121 ◽  
Author(s):  
Micael S. Couceiro ◽  
J. Miguel A. Luz ◽  
Carlos M. Figueiredo ◽  
N. M. Fonseca Ferreira
Keyword(s):  
Dynamic Models ◽  
Dynamic Control ◽  
Biologically Inspired ◽  
Modeling And Control ◽  
High Level ◽  
New Generation ◽  
And Control ◽  
Level Calculation ◽  
Potential Use ◽  
Flying Robots

SUMMARYThis paper covers a wide knowledge of physical and dynamical models useful for building flying robots and a new generation of flying platform developed in the similarity of flying animals. The goal of this work is to develop a simulation environment and dynamic control using the high-level calculation tool MatLab and the modeling, simulation, and analysis of dynamic systems tool Simulink. Once created the dynamic models to study, this work involves the study and understanding of the dynamic stability criteria to be adopted and their potential use in the control of flying models.

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