Dynamic Analysis and Modeling of Jansen Mechanism

Nansai, Shunsuke; Elara, Mohan Rajesh; Iwase, Masami

doi:10.1016/j.proeng.2013.09.238

Cited by 51 publications

(32 citation statements)

References 12 publications

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“…However, reconfigurable designs with less than four legs should be avoided in order to maintain simplicity and at the same time to avoid the related considerations of Zero Moment Point (ZMP) approaches for achieving static and/or dynamic stability [15][16][17][18]. In addition, toe slipping due to difference in leg speed during realization of a walking pattern need to be taken into consideration [18]. As a consequence, a four-legged reconfigurable Klann platform is considered for the analysis discussed in this work.…”

Section: Step Climbing Hammering Motion Digging Motionmentioning

confidence: 99%

Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot

et al. 2016

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Reconfigurable legged robots based on one degree of freedom are highly desired because they are effective on rough and irregular terrains and they provide mobility in such terrain with simple control schemes. It is necessary that reconfigurable legged robots should maintain stability during rest and motion, with a minimum number of legs while maintaining their full range of walking patterns resulting from different gait configuration. In this paper we present a method to generate input trajectory for reconfigurable quadruped robots based on Klann mechanism to properly synchronize movement. Six useful gait cycles based on this reconfigurable Klann mechanism for quadruped robots has been clearly shown here. The platform stability for these six useful gait cycles are validated through simulated results which clearly shows the capabilities of reconfigurable design.

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Section: Step Climbing Hammering Motion Digging Motionmentioning

confidence: 99%

Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot

et al. 2016

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“…However, reconfigurable designs with less than four legs should be avoided in order to maintain simplicity and evade the related considerations of Zero Moment Point (ZMP) approaches for achieving static and/or dynamic stability [15][16][17]. In addition, in Jansen platforms, previous studies have shown the need to account for toe slipping while realizing walking patterns due to difference in speeds at which each leg moves [18]. Therefore, a ZMP-centered solution seems inappropriate.…”

Section: Specification Of the Reconfigurable Jansen Platformmentioning

confidence: 99%

A novel approach to gait synchronization and transition for reconfigurable walking platforms

Nansai

Rojas

Elara

et al. 2015

Digital Communications and Networks

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Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform??s stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design

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“…In our previous work [13], we derived a dynamic model of the whole Theo Jansen platform by independent modeling of the dynamics of both forepaw and back paw while consolidating the two models [13] [17]. The schematic figure and coordinate system of the forepaw are illustrated in Fig.…”

Section: A Model Of Jansen Link Mechanismmentioning

confidence: 99%

“…With the scope of this paper limited to controller design, any analysis of collision between the robot and the plane are left for the future work. Given, that toe slipping occurs in Jansen robot while walking [13]. It is highly difficult to derive a proper model for such situations.…”

Section: B Extension To Leg-plane Contactmentioning

confidence: 99%

Energy Based Position Control of Jansen Walking Robot

Nansai

Iwase

Elara³

2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

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Theo Jansen mechanism is gaining attention among legged robotics researchers due to its scalable design, energy efficiency, low payload to machine load ratio, bio-inspired locomotion, and deterministic foot trajectory. In this paper, we present a novel position control strategy for Jansen walking robot derived using projection method for which energy based control forms the core. Numerical simulations are done to validate the efficacy of the designed controller. This work identifies an appropriate controller gain that decreases the overshoot necessary for successful real world deployments.

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Dynamic Analysis and Modeling of Jansen Mechanism

Cited by 51 publications

References 12 publications

Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot

Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot

A novel approach to gait synchronization and transition for reconfigurable walking platforms

Energy Based Position Control of Jansen Walking Robot

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