Overview of the Lucy Project: Dynamic Stabilization of a Biped Powered by Pneumatic Artificial Muscles

Vanderborght, Bram; Ham, Ronald Van; Verrelst, Björn; Damme, Michaël Van; Lefeber, Dirk

doi:10.1163/156855308x324749

Cited by 76 publications

(75 citation statements)

References 9 publications

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“…A smaller value of Equation (19) leads to a more output energy that affects the jump height directly. Using the linear programming, we obtain the optimum ∆q t required to minimize the cost function of Equation (19) while simultaneously satisfying the the set of inequalities composed by Equation (16) and Equation (18). Figure 8 shows the control system.…”

Section: Motion Planning For Jumping Maneuvermentioning

confidence: 99%

“…Raibert and colleagues studied hopping robots [14] that were driven by pneumatic and hydraulic actuators to perform various actions, including somersaults [15]. Other researchers successfully demonstrated jumping motions using robots with artificial muscles [16,17]. Curran [9] and Ugurlu [18] proposed jumping mechanisms that use the potential energy of a spring.…”

Section: Introductionmentioning

confidence: 99%

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Motion Planning for Bipedal Robot to Perform Jump Maneuver

Jiang

Chen

et al. 2018

Applied Sciences

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Abstract:The remarkable ability of humans to perform jump maneuvers greatly contributes to the improvements of the obstacle negotiation ability of humans. The paper proposes a jumping control scheme for a bipedal robot to perform a high jump. The half-body of the robot is modeled as three planar links and the motion during the launching phase is taken into account. A geometrically simple motion was first conducted through which the gear reduction ratio that matches the maximum motor output for high jumping was selected. Then, the following strategies to further exploit the motor output performance was examined: (1) to set the maximum torque of each joint as the baseline that is explicitly modeled as a piecewise linear function dependent on the joint angular velocity; (2) to exert it with a correction of the joint angular accelerations in order to satisfy some balancing criteria during the motion. The criteria include the location of ZMP (zero moment point) and the torque limit. Using the technique described above, the jumping pattern is pre-calculated to maximize the jump height. Finally, the effectiveness of the proposed method is evaluated through simulations. In the simulation, the bipedal robot model achieved a 0.477-m high jump.

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Section: Motion Planning For Jumping Maneuvermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Jiang

Chen

et al. 2018

Applied Sciences

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“…Some have antagonistic non-linear springs [9] or pneumatic muscles [10]; however, these have tended to be slow and not capable of exhibiting dynamic effects. A more agile, antagonistic pneumatic robot is described in [11], but compliance control of its joints is still fairly primitive.…”

Section: Wa T E R J E T C U T C H a S S I Smentioning

confidence: 99%

BLUE: A bipedal robot with variable stiffness and damping

Enoch

Sutas

Nakaoka

et al. 2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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Abstract-Exploiting variable impedance for dynamic tasks such as walking is both challenging and topical -research progress in this area impacts not only autonomous, bipedal mobility but also prosthetics and exoskeletons. In this work, we present the design, construction and preliminary testing of a planar bipedal robot with joints capable of physically varying both their stiffness and damping independently -the first of its kind. A wide variety of candidate variable stiffness and damping actuator designs are investigated. Informed by human biophysics and locomotion studies, we design an appropriate (heterogenous) impedance modulation mechanism that fits the necessary torque and stiffness range and rate requirements at each joint while ensuring the right form factor. In addition to hip, knee and ankle, the constructed robot is also equipped with a three part compliant foot modelled on human morphology. We describe in detail the hardware construction and the communication and control interfaces. We also present a full physics based dynamic simulation which matches the hardware closely. Finally, we test impedance modulation response characteristics and a basic walking gait realised through a simple movement controller, both in simulation and on the real hardware.

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“…It is only able to stand up controlled by a simple fuzzy rule-based controller. Dirk et al built a planar walking biped robot Lucy [6]. Each joint of Lucy, driven by two PAMs in antagonistic setup, is actively controlled, enabling it to walk at different speeds and step-lengths on a treadmill [7,8].…”

Section: Introductionmentioning

confidence: 99%

Design and control of a pneumatic musculoskeletal biped robot

Zang

Liu²,

Liu³

et al. 2016

THC

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Abstract. BACKGROUND: Pneumatic artificial muscles are quite promising actuators for humanoid robots owing to their similar characteristics with human muscles. Moreover, biologically inspired musculoskeletal systems are particularly important for humanoid robots to perform versatile dynamic tasks. OBJECTIVE: This study aims to develop a pneumatic musculoskeletal biped robot, and its controller, to realize human-like walking. METHODS: According to the simplified musculoskeletal structure of human lower limbs, each leg of the biped robot is driven by nine muscles, including three pairs of monoarticular muscles which are arranged in the flexor-extensor form, as well as three biarticular muscles which span two joints. To lower cost, high-speed on/off solenoid valves rather than proportional valves are used to control the muscles. The joint trajectory tracking controller based on PID control method is designed to achieve the desired motion. Considering the complex characteristics of pneumatic artificial muscles, the control model is obtained through parameter identification experiments. RESULTS: Preliminary experimental results demonstrate that the biped robot is able to walk with this control strategy. CONCLUSION: The proposed musculoskeletal structure and control strategy are effective for the biped robot to achieve human-like walking.

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Overview of the Lucy Project: Dynamic Stabilization of a Biped Powered by Pneumatic Artificial Muscles

Cited by 76 publications

References 9 publications

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Motion Planning for Bipedal Robot to Perform Jump Maneuver

BLUE: A bipedal robot with variable stiffness and damping

Design and control of a pneumatic musculoskeletal biped robot

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