Mechatronic Design Using Flatness-Based Control to Compensate for a Lack of Sensors

Polzer, Jan; Nissing, Dirk

doi:10.1016/s1474-6670(17)39266-2

Cited by 2 publications

(3 citation statements)

References 5 publications

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“…Using the measured result made by Polzer et al [38], the parameters in Equation ( 51) can be obtained as follows. According to the joint positions and the mechanical structure of the single leg, the lengths of hydraulic cylinders and joint positions are mapped as follows, where c 1 and c 2 are the cylinder lengths, θ 1 and θ 2 are the joint positions.…”

Section: The Energy Model Of the Scalfmentioning

confidence: 99%

Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Yang

Zhou

et al. 2019

Energies

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Quadruped robots can be used to transport loads or conduct rescue missions on tough terrain. In addition to flexibility and adaptability to complex terrain, the hydraulic driven quadruped robots also have the important characteristic of energy consumption. This paper studies the trot gait motions of the quadruped robot SCalf. The energy model including the mechanical power and heat rate is established, which can be used to obtained the energy consumption of the robot. Compared with a cubic spline interpolation reference trajectory, a foot trajectory based on Fourier series is studied to reduce the joints energy consumption, and the parameters of the foot trajectory are acquired by the Pattern Search method. The effectiveness of the energy efficient trajectory is verified by simulations and verified on the robot prototype.

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Section: The Energy Model Of the Scalfmentioning

confidence: 99%

Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Yang

Zhou

et al. 2019

Energies

View full text Add to dashboard Cite

show abstract

“…T contains the forces and moment acting on the robot COM in sagittal plane. Under these conditions, the forces and moment balance equations can be written as follows: The Equations (17) to (19) can be written in a matrix form as follows:…”

Section: The Foot Force Distributionmentioning

confidence: 99%

“…In Equation (35), B is the viscous friction coefficient (Ns/m), F c0 is the Coulomb friction coefficient (N), F s0 is the static friction coefficient (N), and C S is the attenuation coefficient of static friction. Using the measured result made by Polzer et al [17], the parameters in Equation 35 The cylinder velocities can be obtained by the differential of cylinder lengths. The cylinder lengths can be calculated by the mechanical parameters in Figure 5 and Table 2.…”

Section: Energy Modelmentioning

confidence: 99%

Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control

et al. 2019

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Energy consumption is an important performance index of quadruped robots. In this paper, the energy consumptions of the quadruped robot SCalf with a trot gait under different gait parameters are analyzed. Firstly, the kinematics and dynamics models of the robot are established. Then, an energy model including the mechanical power and heat rate is proposed. To obtain the energy consumption, a cubic spline interpolation foot trajectory is used, and the feet forces are calculated by using the minimization of norm of the foot force method. Moreover, an energetic criterion measuring the energy cost is defined to evaluate the motion. Finally, the gait parameters such as step height, step length, standing height, gait cycle, and duty cycle that influence the energy consumption are studied, which could provide a theoretical basis for parameter optimization and motion control of quadruped robots.

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Mechatronic Design Using Flatness-Based Control to Compensate for a Lack of Sensors

Cited by 2 publications

References 5 publications

Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Modeling and Analysis on Energy Consumption of Hydraulic Quadruped Robot for Optimal Trot Motion Control

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