Robotic locomotion of three generations of a family tree of dynamical systems. Part II: Impulsive control of gait patterns

Tavakoli, Ali; Hürmüzlü, Yildirim

doi:10.1007/s11071-013-0917-5

Cited by 20 publications

(12 citation statements)

References 26 publications

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“…This proves that biped robots based on passive walking have a good energy efficiency and can perform more natural gaits [12]. It seems that the mechanical parameters of these walkers work better than the complicated control system of the conventional robots in generating natural looking gaits [13,14].…”

Section: Introductionmentioning

confidence: 80%

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

et al. 2020

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This work presents and discusses a general approach for the dynamic modeling and analysis of a passive biped walking robot, with a particular focus on the feet-ground contact interaction. The main purpose of this investigation is to address the supporting foot slippage and viscoelastic dissipative contact forces of the biped robot-walking model and to develop its dynamics equations for simple and double support phases. For this investigation, special attention has been given to the detection of the contact/impact between the legs of the biped and the ground. The results have been obtained with multibody system dynamics applying forward dynamics. This study aims at examining and comparing several force models dealing with different approaches in the context of multibody system dynamics. The normal contact forces developed during the dynamic walking of the robot are evaluated using several models: Hertz, Kelvin-Voight, Hunt and Crossley, Lankarani and Nikravesh, and Flores. Thanks to this comparison, it was shown that the normal force that works best for this model is the dissipative Nonlinear Flores Contact Force Model (hysteresis damping parameter - energy dissipation). Likewise, the friction contact/impact problem is solved using the Bengisu equations. The numerical results reveal that the stable periodic solutions are robust. Integrators and resolution methods are also purchased, in order to obtain the most efficient ones for this model.

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Section: Introductionmentioning

confidence: 80%

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

et al. 2020

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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%

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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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“…In hybrid systems and especially the systems that encounter to impact event, a chaotic dynamics may be happened. Some studies are done in this field [19][20][21][22][23][24].…”

Section: Introductionmentioning

confidence: 99%

Chaos study of a vibratory micro-robot in hybrid motion

2015

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In this paper, motion of a micro-robot with two perpendicular vibrational actuators is studied. In this work, separation of the micro-robot body from the substrate of motion is modeled. If the applied vertical force to the micro-robot body is greater than its weight, body of the micro-robot jumps apart from the substrate and then returns to it. This motion will continue intermittently until it is damped. In this condition, the motion mechanism of "stick-slip" is not valid, and a hybrid motion according to "stick-slip-jump" mode is governed. By increasing the applied vertical force, the motion velocity of the micro-robot becomes disordered and unrepeatable. By numerical solving of the equation of motion and investigating the dynamic response, we find the micro-robot motion is chaotic, related to the restitution factor of the motion substrate and the ratio of vertical force to micro-robot weight.

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Robotic locomotion of three generations of a family tree of dynamical systems. Part II: Impulsive control of gait patterns

Cited by 20 publications

References 26 publications

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

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

Chaos study of a vibratory micro-robot in hybrid motion

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