Design Of Dynamic Legged Robots
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Design Of Dynamic Legged Robots
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Author : Sangbae Kim
language : en
Publisher:
Release Date : 2017-03-20
Design Of Dynamic Legged Robots written by Sangbae Kim and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-03-20 with categories.
Focuses on the mechanical design of legged robots, from the history through to the present day. Discusses some of the main challenges to actuator design in legged robots and examines a recently developed technology called proprioceptive actuators in order to meet the needs of today's legged machines.
Self Contained Measurement Of Dynamic Legged Locomotion
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Author : Surya P. N. Singh
language : en
Publisher:
Release Date : 2006
Self Contained Measurement Of Dynamic Legged Locomotion written by Surya P. N. Singh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with categories.
Design Of High Performance Legged Robots
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Author : Josephus J. M. Driessen
language : en
Publisher: Università degli Studi di Genova
Release Date : 2019-07-11
Design Of High Performance Legged Robots written by Josephus J. M. Driessen and has been published by Università degli Studi di Genova this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-11 with Technology & Engineering categories.
PhD Dissertation The availability and capabilities of present-day technology suggest that legged robots should be able to physically outperform their biological counterparts. This thesis revolves around the philosophy that the observed opposite is caused by over-complexity in legged robot design, which is believed to substantially suppress design for high-performance. In this dissertation a design philosophy is elaborated with a focus on simple but high performance design. This philosophy is governed by various key points, including holistic design, technology-inspired design, machine and behaviour co-design and design at the performance envelope. This design philosophy also focuses on improving progress in robot design, which is inevitably complicated by the aspire for high performance. It includes an approach of iterative design by trial-and-error, which is believed to accelerate robot design through experience. This thesis mainly focuses on the case study of Skippy, a fully autonomous monopedal balancing and hopping robot. Skippy is maximally simple in having only two actuators, which is the minimum number of actuators required to control a robot in 3D. Despite its simplicity, it is challenged with a versatile set of high-performance activities, ranging from balancing to reaching record jump heights, to surviving crashes from several meters and getting up unaided after a crash, while being built from off-the-shelf technology. This thesis has contributed to the detailed mechanical design of Skippy and its optimisations that abide the design philosophy, and has resulted in a robust and realistic design that is able to reach a record jump height of 3.8m. Skippy is also an example of iterative design through trial-and-error, which has lead to the successful design and creation of the balancing-only precursor Tippy. High-performance balancing has been successfully demonstrated on Tippy, using a recently developed balancing algorithm that combines the objective of tracking a desired position command with balancing, as required for preparing hopping motions. This thesis has furthermore contributed to several ideas and theories on Skippy's road of completion, which are also useful for designing other high-performance robots. These contributions include (1) the introduction of an actuator design criterion to maximize the physical balance recovery of a simple balancing machine, (2) a generalization of the centre of percussion for placement of components that are sensitive to shock and (3) algebraic modelling of a non-linear high-gravimetric energy density compression spring with a regressive stress-strain profile. The activities performed and the results achieved have been proven to be valuable, however they have also delayed the actual creation of Skippy itself. A possible explanation for this happening is that Skippy's requirements and objectives were too ambitious, for which many complications were encountered in the decision-making progress of the iterative design strategy, involving trade-offs between exercising trial-and-error, elaborate simulation studies and the development of above-mentioned new theories. Nevertheless, from (1) the resulting realistic design of Skippy, (2) the successful creation and demonstrations of Tippy and (3) the contributed theories for high-performance robot design, it can be concluded that the adopted design philosophy has been generally successful. Through the case study design project of the hopping and balancing robot Skippy, it is shown that proper design for high physical performance (1) can indeed lead to a robot design that is capable of physically outperforming humans and animals and (2) is already very challenging for a robot that is intended to be very simple.
Mechanical Design Development And Testing Of Bioinspired Legged Robots For Dynamic Locomotion
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Author : Alborz Aghamaleki Sarvestani
language : en
Publisher:
Release Date : 2022
Mechanical Design Development And Testing Of Bioinspired Legged Robots For Dynamic Locomotion written by Alborz Aghamaleki Sarvestani and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
Bioinspired Legged Locomotion
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Author : Maziar Ahmad Sharbafi
language : en
Publisher: Butterworth-Heinemann
Release Date : 2017-11-21
Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and has been published by Butterworth-Heinemann this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-11-21 with Technology & Engineering categories.
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. Presents state-of-the-art control approaches with biological relevance Provides a thorough understanding of the principles of organization of biological locomotion Teaches the organization of complex systems based on low-dimensional motion concepts/control Acts as a guideline reference for future robots/assistive devices with legged architecture Includes a selective bibliography on the most relevant published articles
Walking Machines
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Author : D. J. Todd
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-03-08
Walking Machines written by D. J. Todd and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-08 with Science categories.
The first chapter of this book traces the history of the development of walking machines from the original ideas of man-amplifiers and military rough-ground transport to today's diverse academic and industrial research and development projects. It concludes with a brief account of research on other unusual methods of locomotion. The heart of the book is the next three chapters on the theory and engineering of legged robots. Chapter 2 presents the basics of land loco motion, going on to consider the energetics of legged movement and the description and classification of gaits. Chapter 3, dealing with the mechanics of legged vehicles, goes into leg number and arrangement, and discusses mechanical design and actuation methods. Chapter 4 deals with analysis and control, describing the aims of control theory and the methods of modelling and control which have been used for both highly dynamic robots and multi-legged machines. Having dealt with the theory of control it is necessary to discuss the computing system on which control is to be implemented. This is done in Chapter 5, which covers architectures, sensing, algorithms and pro gramming languages. Chapter 6 brings together the threads of the theory and engineering discussed in earlier chapters and summarizes the current walking machine research projects. Finally, the applications, both actual and potential, of legged locomotion are described. Introduction Research into legged machines is expanding rapidly. There are several reasons why this is happening at this particular time.
Embodiment Of Legged Robots Emerged In Evolutionary Design Pseudo Passive Dynamic Walkers
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Author : Kojiro Matsushita
language : en
Publisher:
Release Date : 2008
Embodiment Of Legged Robots Emerged In Evolutionary Design Pseudo Passive Dynamic Walkers written by Kojiro Matsushita and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.
An objective of this paper is to illustrate a physical representation of the embodiment on legged locomotion. Embodiment is here defined as physical features that reduce control complexity and energy consumption of legged robots. In this method, the embodiment of.
Design Of Minimally Actuated Legged Milli Robots Using Compliant Mechanisms And Folding
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Author : Aaron Murdock Hoover
language : en
Publisher:
Release Date : 2010
Design Of Minimally Actuated Legged Milli Robots Using Compliant Mechanisms And Folding written by Aaron Murdock Hoover and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with categories.
This thesis explores milli- and meso-scale legged robot design and fabrication with compliant mechanisms. Our approach makes use of a process that integrates compliant flexure hinges and rigid links to form parallel kinematic structures through the folding of flat-fabricated sheets of articulated parts. Using screw theory, we propose the formulation of an equivalent mechanism compliance for a class of parallel mechanisms, and we use that compliance to evaluate a scalar performance metric based on the strain energy stored in a mechanism subjected to an arbitrary load. Results from the model are supported by experimental measurements of a representative mechanism. With the insight gained from the kinematic mechanism design analysis, we propose and demonstrate compliant designs for two six-legged robots comprising the robotic, autonomous, crawling hexapod (RoACH) family of robots. RoACH is a two degree of freedom, 2.4 gram, 3 cm long robot capable of untethered, sustained, steerable locomotion. RoACH's successor, DynaRoach, is 10 cm long, has one actuated degree of freedom and is capable of running speeds of up to 1.4 m/s. DynaRoACH employs compliant legs to help enable dynamic running and maneuvering and is three orders of magnitude more efficient than its milli-scale predecessor. We experimentally demonstrate the feasibility of a biologically-inspired approach to turning control and dynamic maneuvering by adjusting leg stiffness. While the result agrees qualitatively with predictions from existing reduced order models, initial data suggest the full 3-dimensional dynamics play an important role in six-legged turning.
Tail Augmented Self Righting And Turning Of A Dynamic Legged Millirobot
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Author : Carlos Sebastian Casarez
language : en
Publisher:
Release Date : 2018
Tail Augmented Self Righting And Turning Of A Dynamic Legged Millirobot written by Carlos Sebastian Casarez and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
Small-scale folded legged robots have demonstrated exceptional mobility in laboratory environments. However, in real-world applications, these robots require added robustness. This thesis introduces LoadRoACH, a 54.8 g palm-sized folded legged robot that carries a protective shell and an active tail (totaling 27.2 g). These added components enable LoadRoACH to survive high drops, rapidly self-right, and turn with enhanced maneuverability. First, a thermoforming manufacturing process is developed for integrated shells that protect folded legged robots from impacts and water/granular media. Next, design details are presented for LoadRoACH that enable dynamic running while carrying significantly larger payloads than previous folded legged robots. Then, dynamic self-righting with tail/terrain pushing is analyzed and tested using a modified VelociRoACH robot, which is a precursor to LoadRoACH. VelociRoACH can dynamically self-right on low-friction, high-friction, and granular terrain in as little time as 256 ms. In an autonomous self-righting experiment, VelociRoACH detects inversion and rapidly self-rights while walking over an obstacle with multiple step drops. Finally, two novel turning strategies that leverage tail/terrain contact during forward running are analyzed and implemented using LoadRoACH. The first strategy drags the tail against high-friction terrain to produce sustained turns with comparable maneuverability to differential drive turns. The second strategy impacts the tail against low-friction, high-friction, and granular terrain to produce rapid point turns with a heading change of up to 90 deg in 0.8 s. In an aggressive corner steering maneuver, a combination of tail drag and tail impact turning on a carpet surface enable the robot to advance further along the desired heading when compared to differential drive turning.
Embodiment Of Legged Robots Emerged In Evolutionary Design Pseudo Passive Dynamic Walkers
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Author : Kojiro Matsushita
language : en
Publisher:
Release Date : 2008
Embodiment Of Legged Robots Emerged In Evolutionary Design Pseudo Passive Dynamic Walkers written by Kojiro Matsushita and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.
An objective of this paper is to illustrate a physical representation of the embodiment on legged locomotion. Embodiment is here defined as physical features that reduce control complexity and energy consumption of legged robots. In this method, the embodiment of.