A SLIP-based Robot Leg for Decoupled Spring-like Behavior: Design and Evaluation

Seo, Jaehong; Kim, Jungyeong; Park, Sangshin; Cho, Jungsan

doi:10.1007/s12555-018-0327-z

Cited by 10 publications

(3 citation statements)

References 14 publications

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“…To make the control simpler and use less energy, the stiffness and length of the biarticular spring rest were appropriately adjusted. To describe the gait of a walking robot, a SLIPbased robotic leg was developed [18], which decoupled the swing motion and spring-like behavior. A straight-line generating mechanism that was amplified by the pantograph was employed as a mechanism for this robotic leg.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

Kalibala

Mohamed

Umezu

et al. 2023

Preprint

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It is well recognized that biarticular muscles cross over two joints instead of just one, granting them the ability to generate substantial forces across both joints. This type of muscle plays a crucial role in human movement, since it produces large forces. In literature, there have been numerous designs of mono- and biarticular actuations applied for a two- or three-link robotic leg, aimed at studying human locomotion. A novel biarticular actuation configuration for a two-link compliant robotic leg is proposed in this research. It features mono-articular rotational actuation for the proximal link and biarticular linear actuation for the distal link. The distal link is actuated by a linear Series Elastic Actuator (SEA) that is suitable for compliant ground interaction, while the proximal link is driven by a stiff rotary actuator. This biarticular actuation is bio-inspired by the biarticular muscles in humans, especially the hamstring muscle, which span two joints instead of one to provide high torque at both joints. This new configuration for the two-link robotic leg realizes the Spring-loaded Inverted Pendulum (SLIP) dynamics, making human locomotion during the compliant ground interaction simpler. In the biarticular coordinates, complete kinematic and dynamic analyses are developed for this new configuration. The approach also involves using a rotating task space to represent the swing and stance phases of human gait. The dynamic model is transformed into this rotating task space and a hybrid impedance and position controller is developed with optimized gains to minimize the tracking errors and prevent any disturbance. A disturbance observer controller is developed and integrated with the hybrid impedance control for the proposed linear SEA in order to improve the force control precision and the resilience against external disturbances. The simulation results show the feasibility of this new approach.

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Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

Kalibala

Mohamed

Umezu

et al. 2023

Preprint

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“…Robotic manipulators are widely used in assembly lines for mounting, transporting, cutting, production, and welding, etc [1,2]. Pantograph robotic manipulators are the most common types of robots used in industrial applications [3]. A pantograph is a mechanical linkage structure connected in a parallelogram-like manner.…”

Section: Introductionmentioning

confidence: 99%

Collaborative Position Control of Pantograph Robot Using Particle Swarm Optimization

Ali

Ayaz²,

Iqbal

2022

Int. J. Control Autom. Syst.

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This article presents the design and real-time implementation of an optimal collaborative approach to obtain the desired trajectory tracking of two Degree of Freedom (DOF) pantograph end effector position. The proposed controller constructively synergizes the Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) by taking their weighted sum. Particle Swarm Optimization (PSO) algorithm is proposed to optimally tune the gains of PID, weighting matrices of LQR, and their ratio of contributions. Initially, the PID and LQR controller parameters are optimally tuned using PSO. In order to enhance the control effort and to provide more optimal performance, the weightages of each controller are optimally tuned and are kept constant. The collaborative position control strategy is tested against the PID and the LQR controllers via hardware in loop trials on a robotic manipulator. Experimental results are provided to validate the accurate trajectory tracking of the proposed controller. Results demonstrate that the optimal combination renders a significant improvement of 10% in steady-state response and about 37% in transient response over the PID and LQR schemes.

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“…Once the optimal coefficients have been selected, the dynamic balance of the single-legged robot can be achieved by constant jumping [25,26]. Since then, the SLIP model has been further developed to bring out the concept of virtual legs: it simplifies and combines legs with identical motion characteristics in a gait cycle into a single virtual leg, and the virtual leg is controlled separately with a spring-loaded inverted pendulum model [27]. This reduces the complex control of a multi-legged robot to a single-legged control with good dynamic stability [28].…”

Section: Introductionmentioning

confidence: 99%

Structural Design, Simulation and Experiment of Quadruped Robot

Shi

Guo

et al. 2021

Applied Sciences

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This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements and smooth motions. Furthermore, the kinematic and inverse kinematic solutions based on the DH method are explored to lay the foundation for the gait algorithm. Afterward, a classical compound pendulum equation is applied as the foot-end trajectory and inverse kinematic solutions are combined to complete the gait planning. With appropriate foot–ground contact modeling, MATLAB and ADAMS are used to simulate the dynamic behavior and the diagonal trot gait of the quadruped robot. Finally, the physical prototype is constructed, designed and debugged, and its performance is measured through real-world experiments. Results show that the quadruped robot is able to balance itself during trot motion, for both its pitch and roll attitude. The goal of this work is to provide an affordable yet comprehensive platform for novice researchers in the field to study the dynamics, contact modeling, gait planning and attitude control of quadruped robots.

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A SLIP-based Robot Leg for Decoupled Spring-like Behavior: Design and Evaluation

Cited by 10 publications

References 14 publications

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

Collaborative Position Control of Pantograph Robot Using Particle Swarm Optimization

Structural Design, Simulation and Experiment of Quadruped Robot

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