An Optimization Strategy For Hexapod Gait Transition

DOWNLOAD

Download An Optimization Strategy For Hexapod Gait Transition PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get An Optimization Strategy For Hexapod Gait Transition book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page

An Optimization Strategy For Hexapod Gait Transition

DOWNLOAD
Author : Naga Harika Darbha
language : en
Publisher:
Release Date : 2017

An Optimization Strategy For Hexapod Gait Transition written by Naga Harika Darbha and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with Electrical engineering categories.

Legged robots often need to move through different terrains as they function. This requires a change of gaits by the robot in order to move with better efficiency. There has been a lot of research done to find out which gait works better for a given terrain so that the robot can change its gait accordingly. A reliable analysis of when exactly should the transition take place in a walking robot is important, so that there can be an assurance of stability in the locomotion of the robot during the transition between different gaits. This work presents analysis performed on a hexapod robot that can walk in three different gaits: Tripod gait, Ripple gait, and Wave gait, all on a flat terrain. The goal is to optimize the transition of the robot between these gaits by analyzing its stability during motion as the transition is initiated at different times during the stride, called the phase here. A reliable phase at which each transition can be implemented is analyzed with the help of a calculated cost of transition, which is based on the roll and pitch of the robot, and the general body stability margin, which relies upon computation of the support polygon. The roll and pitch of the robot are obtained from simulation of the walking robot as it transitions between gaits, while the stability margin during walking is computed in MATLAB. These values are then combined to determine the cost of transition as the function of the phase at transition. Ultimately, this can be used in real-time walking to determine when transitions should be initiated.

Mechanism And Machine Science

DOWNLOAD
Author : Xianmin Zhang
language : en
Publisher: Springer
Release Date : 2016-11-15

Mechanism And Machine Science written by Xianmin Zhang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-11-15 with Technology & Engineering categories.

These proceedings collect the latest research results in mechanism and machine science, intended to reinforce and improve the role of mechanical systems in a variety of applications in daily life and industry. Gathering more than 120 academic papers, it addresses topics including: Computational kinematics, Machine elements, Actuators, Gearing and transmissions, Linkages and cams, Mechanism design, Dynamics of machinery, Tribology, Vehicle mechanisms, dynamics and design, Reliability, Experimental methods in mechanisms, Robotics and mechatronics, Biomechanics, Micro/nano mechanisms and machines, Medical/welfare devices, Nature and machines, Design methodology, Reconfigurable mechanisms and reconfigurable manipulators, and Origami mechanisms. This is the fourth installment in the IFToMM Asian conference series on Mechanism and Machine Science (ASIAN MMS 2016). The ASIAN MMS conference initiative was launched to provide a forum mainly for the Asian community working in Mechanism and Machine Science, in order to facilitate collaboration and improve the visibility of activities in the field. The series started in 2010 and the previous ASIAN MMS events were successfully held in Taipei, China (2010), Tokyo, Japan (2012), and Tianjin, China (2014). ASIAN MMS 2016 was held in Guangzhou, China, from 15 to 17 December 2016, and was organized by the South China University under the patronage of the IFToMM and the Chinese Mechanical Engineering Society (CMES). The aim of the Conference was to bring together researchers, industry professionals and students from the broad range of disciplines connected to Mechanism Science in a collegial and stimulating environment. The ASIAN MMS 2016 Conference provided a platform allowing scientists to exchange notes on their scientific achievements and establish new national and international collaborations concerning the mechanism science field and its applications, mainly but not exclusively in Asian contexts.

Intelligence And Safety For Humanoid Robots Design Control And Applications

DOWNLOAD
Author : Zhihong Tian
language : en
Publisher: Frontiers Media SA
Release Date : 2022-02-07

Intelligence And Safety For Humanoid Robots Design Control And Applications written by Zhihong Tian and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-02-07 with Science categories.

Advances In Cooperative Robotics Proceedings Of The 19th International Conference On Clawar 2016

DOWNLOAD
Author : Mohammad Osman Tokhi
language : en
Publisher: World Scientific
Release Date : 2016-08-04

Advances In Cooperative Robotics Proceedings Of The 19th International Conference On Clawar 2016 written by Mohammad Osman Tokhi and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-08-04 with Technology & Engineering categories.

This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies around the theme of cooperative robotics. The book contains peer reviewed articles presented at the CLAWAR 2016 conference. The book contains a strong stream of papers on multi-legged locomotion and cooperative robotics. There is also a strong collection of papers on human assistive devices, notably wearable exoskeletal and prosthetic devices, and personal care robots and mobility assistance devices designed to meet the growing challenges due to the global ageing society. Robot designs based on biological inspirations and ethical concerns and issues related to the design, development and deployment of robots are also strongly featured.

Gait Optimization For Multi Legged Walking Robots With Application To A Lunar Hexapod

DOWNLOAD
Author : Daniel Chávez-Clemente
language : en
Publisher: Stanford University
Release Date : 2011

Gait Optimization For Multi Legged Walking Robots With Application To A Lunar Hexapod written by Daniel Chávez-Clemente and has been published by Stanford University this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.

The interest in using legged robots for a variety of terrestrial and space applications has grown steadily since the 1960s. At the present time, a large fraction of these robots relies on electric motors at the joints to achieve mobility. The load distributions inherent to walking, coupled with design constraints, can cause the motors to operate near their maximum torque capabilities or even reach saturation. This is especially true in applications like space exploration, where critical mass and power constraints limit the size of the actuators. Consequently, these robots can benefit greatly from motion optimization algorithms that guarantee successful walking with maximum margin to saturation. Previous gait optimization techniques have emphasized minimization of power requirements, but have not addressed the problem of saturation directly. This dissertation describes gait optimization techniques specifically designed to enable operation as far as possible from saturation during walking. The benefits include increasing the payload mass, preserving actuation capabilities to react to unforeseen events, preventing damage to hardware due to excessive loading, and reducing the size of the motors. The techniques developed in this work follow the approach of optimizing a reference gait one move at a time. As a result, they are applicable to a large variety of purpose-specific gaits, as well as to the more general problem of single pose optimization for multi-limbed walking and climbing robots. The first part of this work explores a zero-interaction technique that was formulated to increase the margin to saturation through optimal displacements of the robot's body in 3D space. Zero-interaction occurs when the robot applies forces only to sustain its weight, without squeezing the ground. The optimization presented here produces a swaying motion of the body while preserving the original footfall locations. Optimal displacements are found by solving a nonlinear optimization problem using sequential quadratic programming (SQP). Improvements of over 20% in the margin to saturation throughout the gait were achieved with this approach in simulation and experiments. The zero-interaction technique is the safest in the absence of precise knowledge of the contact mechanical properties and friction coefficients. The second part of the dissertation presents a technique that uses the null space of contact forces to achieve greater saturation margins. Interaction forces can significantly contribute to saturation prevention by redirecting the net contact force relative to critical joints. A method to obtain the optimal distribution of forces for a given pose via linear programming (LP) is presented. This can be applied directly to the reference gait, or combined with swaying motion. Improvements of up to 60% were observed in simulation by combining the null space with sway. The zero-interaction technique was implemented and validated on the All Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE), a hexapod robot developed by NASA for the transport of heavy cargo on the surface of the moon. Experiments with ATHLETE were conducted at the Jet Propulsion Laboratory in Pasadena, California, confirming the benefits predicted in simulation. The results of these experiments are also presented and discussed in this dissertation.

7th International Conference On Computing Control And Industrial Engineering Ccie 2023

DOWNLOAD
Author : Yuriy S. Shmaliy
language : en
Publisher: Springer Nature
Release Date : 2023-07-24

7th International Conference On Computing Control And Industrial Engineering Ccie 2023 written by Yuriy S. Shmaliy and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-07-24 with Technology & Engineering categories.

This book collects selected aspects of recent advances and experiences, emerging technology trends that have positively impacted our world from operators, authorities, and associations from CCIE 2022, to help address the world’s advanced computing, control technology, information technology, artificial intelligence, machine learning, deep learning, and neural networks. Meanwhile, the topics included in the proceedings have high research value and present current insights, developments, and trends in computing, control, and industrial engineering.

Intelligent Robotics And Applications

DOWNLOAD
Author : Honghai Liu
language : en
Publisher: Springer Nature
Release Date : 2022-08-03

Intelligent Robotics And Applications written by Honghai Liu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-08-03 with Computers categories.

The 4-volume set LNAI 13455 - 13458 constitutes the proceedings of the 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, which took place in Harbin China, during August 2022. The 284 papers included in these proceedings were carefully reviewed and selected from 442 submissions. They were organized in topical sections as follows: Robotics, Mechatronics, Applications, Robotic Machining, Medical Engineering, Soft and Hybrid Robots, Human-robot Collaboration, Machine Intelligence, and Human Robot Interaction.

Neural Information Processing

DOWNLOAD
Author : Biao Luo
language : en
Publisher: Springer Nature
Release Date : 2023-11-14

Neural Information Processing written by Biao Luo and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-11-14 with Computers categories.

The six-volume set LNCS 14447 until 14452 constitutes the refereed proceedings of the 30th International Conference on Neural Information Processing, ICONIP 2023, held in Changsha, China, in November 2023. The 652 papers presented in the proceedings set were carefully reviewed and selected from 1274 submissions. They focus on theory and algorithms, cognitive neurosciences; human centred computing; applications in neuroscience, neural networks, deep learning, and related fields.

26th Biennial Mechanisms And Robotics Conference

DOWNLOAD
Author :
language : en
Publisher:
Release Date : 2000

26th Biennial Mechanisms And Robotics Conference written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with Engineering design categories.

Dissertation Abstracts International

DOWNLOAD
Author :
language : en
Publisher:
Release Date : 2004

Dissertation Abstracts International written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with Dissertations, Academic categories.