Control of a one-legged robot with energy savings

Schammass, A.; Caurin, Glauco Augusto de Paula; Valente, C.M.O.

doi:10.1590/s0100-73862001000100004

Cited by 6 publications

(3 citation statements)

References 4 publications

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“…These [17]. McGeer walker [11]; Cornell Biped [12]; Automobile [17]; ARL Monopod II [26]; Helios II [30]; ASV [31]; Electric Monopod [33]; Big Muskie [32]; PV II [34]; human walking and running [35]; human cycling [36]; MIT quadruped [37]; passive dynamic running [38].…”

Section: Discussionmentioning

confidence: 99%

“…Considering this simulation result, we approximate the equations of motion during the stance phase without the torsional component for the sake of simplicity. More specifically, by neglecting the torsional terms in (13), (14), (29)-(32), we obtain a simpler equation of motion during the (38) and the following three equations for the flight phase:…”

Section: B Free Vibrations For Hoppingmentioning

confidence: 99%

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An Energy-Efficient Hopping Robot Based on Free Vibration of a Curved Beam

Reis

Iida

2014

IEEE/ASME Trans. Mechatron.

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This paper explores a design strategy of hopping robots, which makes use of free vibration of an elastic curved beam. In this strategy, the leg structure consists of a specifically shaped elastic curved beam and a small rotating mass that induces free vibration of the entire robot body. Although we expect to improve energy efficiency of locomotion by exploiting the mechanical dynamics, it is not trivial to take advantage of the coupled dynamics between actuation and mechanical structures for the purpose of locomotion. From this perspective, this paper explains the basic design principles through modeling, simulation, and experiments of a minimalistic hopping robot platform. More specifically, we show how to design elastic curved beams for stable hopping locomotion and the control method by using unconventional actuation.In addition, we also analyze the proposed design strategy in terms of energy efficiency and discuss how it can be applied to the other forms of legged robot locomotion.Index Terms-Elastic curved beam, free vibration, legged locomotion, legged robot.

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Section: Discussionmentioning

confidence: 99%

Section: B Free Vibrations For Hoppingmentioning

confidence: 99%

An Energy-Efficient Hopping Robot Based on Free Vibration of a Curved Beam

Reis

Iida

2014

IEEE/ASME Trans. Mechatron.

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“…Another characteristic is their ability to use different walking gaits in response to changes in terrain, traversing speed and tasks (Still et al, 2006). A new strategy to control an one-legged robot to reduce the energy by the system is explained (Schammass et al, 2001). The application of Euler-Lagrange formulation in dynamics of a quadruped robot leg mechanism is presented in (Pizziolo et al, 2004).…”

Section: Introductionmentioning

confidence: 99%

Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes

Botelho¹,

Okada²,

Mahmoud

et al. 2011

Sba Controle & Automação

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One of the objectives of the paper is to describe the hybrid robot PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot) with regard to switching between leg-type and wheel-type. Our robot has an easier design and control system than other hybrid robots. The software and hardware control in the process of performing five robot tasks are considered. These are the walking, rolling, switching, turning and spinning. In the switching task, we show the control method based on minimization of total energy cost. Also, the hardware components and their interconnections are described. The graphical user interfaces utilized in the simulation and experiment are demonstrated. The walking, rolling and the switching without reverse rotation and arm motion are verified in simulation and with real robot, in addition to turning and spinning.KEYWORDS: Mobile robots, legged robots, wheeled robots, hybrid robots. RESUMO Controle de Software e Hardware de um Robô Híbrido na Mudança no Modo de Locomoção Utilizando Pernas ou RodasO objetivo principal deste trabalho é descrever a mudança no modo de locomoção entre pernas e rodas do robô híbrido PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot). A diferença entre PEOPLER-II e outros robôs hí-bridos está relacionado com a facilidade que foi projetado e também o seu sistema de controle. O robô realizará cinco tarefas: o caminhar, a locomoção por rodas, o chaveamento entre os modos de locomoção com pernas e rodas, o movimento de virar para esquerda ou direita e a rotação no sentido horário ou anti-horário. O chaveamento é realizado utilizando um método que reduza o custo total de energia necessária na troca entre pernas e rodas. Neste artigo serão apresentados os algoritmos de controle definidos para cada tarefa, as especificações do hardware definidas na arquitetura do robô e as interfaces do software utilizadas na simulação e no experimento. Os resultados experimentais obtidos validam a metodologia proposta.

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Single-legged hopping robotics research—A review

2007

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SUMMARYInspired by the agility of animal and human locomotion, the number of researchers studying and developing legged robots has been increasing at a rapid rate over the last few decades. In comparison to multilegged robots, single-legged robots have only one type of locomotion gait, i.e., hopping, which represents a highly nonlinear dynamical behavior consisting of alternating flight and stance phases. Hopping motion has to be dynamically stabilized and presents challenging control problems. A large fraction of studies on legged robots has focused on modeling and control of single-legged hopping machines. In this paper, we present a comprehensive review of developments in the field of single-legged hopping robots. We have attempted to cover development of prototype models as well as theoretical models of such hopping systems.

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Control of a one-legged robot with energy savings

Cited by 6 publications

References 4 publications

An Energy-Efficient Hopping Robot Based on Free Vibration of a Curved Beam

An Energy-Efficient Hopping Robot Based on Free Vibration of a Curved Beam

Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes

Single-legged hopping robotics research—A review

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