Robotic locomotion of three generations of a family tree of dynamical systems. Part I: Passive gait patterns

Tavakoli, Ali; Hürmüzlü, Yildirim

doi:10.1007/s11071-013-0918-4

Cited by 20 publications

(11 citation statements)

References 30 publications

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“…Here we only consider the front tapping gait of the baton where one end (leading end) is tapping on and the other (trailing end) maintains contact with the ground surface (as previously described in [25,27,26]). …”

Section: Numerical Analysismentioning

confidence: 99%

“…It consist of two masses joined by a connection rod. Using a highly simplified model, it was demonstrated that this locomotor can generate different gait types, when placed on an inclined plane (passive locomotion [26]), or actuated with impulsive forces (active locomotion [27]). Several gaits generated by the baton can neither be characterized as hopping nor legged locomotion.…”

Section: Introductionmentioning

confidence: 99%

“…Subsequently, a preliminary prototype, Pony I, was developed to emulate baton's motion. This robot employs inertial actuation instead of the impulsive one proposed in [26,27]. We found out that there are serious challenges in developing impulsive actuators [28].…”

Section: Introductionmentioning

confidence: 99%

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Modeling, design, and implementation of a baton robot with double-action inertial actuation

Zoghzoghy¹,

Zhao²,

Hürmüzlü³

2015

Mechatronics

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Section: Numerical Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Modeling, design, and implementation of a baton robot with double-action inertial actuation

Zoghzoghy¹,

Zhao²,

Hürmüzlü³

2015

Mechatronics

Self Cite

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“…This implies significant simplification of the stability analysis via linearization of the Poincaré map [31], since local perturbations always result in a solution with the same sequence of contact transitions. Almost all these works do not consider the possibility of slippage under friction limitations (except for [14,50]). Moreover, they do not consider the case of multiple contacts and transitions between multiple contact modes, which are a necessary component in stability analysis of multi-contact equilibrium point, even under arbitrarily small perturbations.…”

Section: Introductionmentioning

confidence: 99%

Lyapunov stability of a rigid body with two frictional contacts

Várkonyi

2017

Nonlinear Dyn

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Lyapunov stability of a mechanical system means that the dynamic response stays bounded in an arbitrarily small neighborhood of a static equilibrium configuration under small perturbations in positions and velocities. This type of stability is highly desired in robotic applications that involve multiple unilateral contacts. Nevertheless, Lyapunov stability analysis of such systems is extremely difficult, because even small perturbations may result in hybrid dynamics where the solution involves many nonsmooth transitions between different contact states. This paper concerns with Lyapunov stability analysis of a planar rigid body with two frictional unilateral contacts under inelastic impacts, for a general class of equilibrium configurations under a constant external load. The hybrid dynamics of the system under contact transitions and impacts is formulated, and a Poincaré map at two-contact states is introduced. Using invariance relations, this Poincaré map is reduced into two semi-analytic scalar functions that entirely encode the dynamic behavior of solutions under any small initial perturbation. These two functions enable determination of Lyapunov stability or instability for almost any equilibrium state. are demonstrated via simulation examples and by plotting stability and instability regions in two-dimensional parameter spaces that describe the contact geometry and external load.

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“…As for biped locomotion incorporating frictional analysis, walking with stick-slip transitions has been undertaken. 14,15 Stick-slip transitions are effective for dynamic locomotion but cannot deal with the state transition from slip to a non-contact phase such as when one leg comes off the floor and the robot almost falls over while sliding because they are based on a cone of friction regarding the contact phase. Today, there is insufficient knowledge of the sliding characteristics of biped robots.…”

Section: Introductionmentioning

confidence: 99%

Analysis of sliding behavior of a biped robot in centroid acceleration space

Senoo

Ishikawa

2015

Robotica

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SUMMARYIn this article, a two-dimensional analysis of biped robot sliding dynamics is performed. First, the dynamics of a biped robot based on feet-slip are derived using the coulomb friction model. The state transition can be formulated in the centroid acceleration space whose diagram is defined as a "triangle of sliding friction" (TSF). The TSF's characteristics are explained by focusing on comparison with the cone of friction which has a similar state decision diagram. Next, for the behavioral simulation of a concrete model, a 2-DOF biped robot is used to analyze the sliding features in terms of the asymmetry of the dynamics of each leg. Finally, the sliding characteristics are applied to the two tasks of running and somersaulting. The results show the robot takes short rapid repetitive steps for running based on frictional asymmetry and theoretically based on torque asymmetry can make one revolution using the large angular momentum acquired during sliding motion.

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Robotic locomotion of three generations of a family tree of dynamical systems. Part I: Passive gait patterns

Cited by 20 publications

References 30 publications

Modeling, design, and implementation of a baton robot with double-action inertial actuation

Modeling, design, and implementation of a baton robot with double-action inertial actuation

Lyapunov stability of a rigid body with two frictional contacts

Analysis of sliding behavior of a biped robot in centroid acceleration space

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