Design Of High Performance Legged Robots
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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.
Advances In Energy Science And Equipment Engineering Ii Volume 2
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Author : Shiquan Zhou
language : en
Publisher: CRC Press
Release Date : 2017-09-19
Advances In Energy Science And Equipment Engineering Ii Volume 2 written by Shiquan Zhou and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-19 with Science categories.
The 2016 2nd International Conference on Energy Equipment Science and Engineering (ICEESE 2016) was held on November 12-14, 2016 in Guangzhou, China. ICEESE 2016 brought together innovative academics and industrial experts in the field of energy equipment science and engineering to a common forum. The primary goal of the conference is to promote research and developmental activities in energy equipment science and engineering and another goal is to promote scientific information interchange between researchers, developers, engineers, students, and practitioners working all around the world. The conference will be held every year to make it an ideal platform for people to share views and experiences in energy equipment science and engineering and related areas. This second volume of the two-volume set of proceedings covers the field of Structural and Materials Sciences, and Computer Simulation & Computer and Electrical Engineering.
Climbing And Walking Robots And The Support Technologies For Mobile Machines
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Author : Phillippe Bidaud
language : en
Publisher: John Wiley & Sons
Release Date : 2002-11-08
Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Phillippe Bidaud and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002-11-08 with Technology & Engineering categories.
Robotic technology advances for a wide variety of applications Climbing and Walking Robots and the Support Technologies for Mobile Machines explores the increasing interest in real-world robotics and the surge in research and invention it has inspired. Featuring the latest advances from leading robotics labs around the globe, this book presents solutions for perennial challenges in robotics and suggests directions for future research. With applications ranging from personal services and entertainment to emergency rescue and extreme environment intervention, the groundbreaking work presented here provides a glimpse of the future.
Intelligent Robotics And Applications
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Author : Huayong Yang
language : en
Publisher: Springer Nature
Release Date : 2023-10-15
Intelligent Robotics And Applications written by Huayong Yang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-10-15 with Computers categories.
The 9-volume set LNAI 14267-14275 constitutes the proceedings of the 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, which took place in Hangzhou, China, during July 5–7, 2023. The 413 papers included in these proceedings were carefully reviewed and selected from 630 submissions. They were organized in topical sections as follows: Part I: Human-Centric Technologies for Seamless Human-Robot Collaboration; Multimodal Collaborative Perception and Fusion; Intelligent Robot Perception in Unknown Environments; Vision-Based Human Robot Interaction and Application. Part II: Vision-Based Human Robot Interaction and Application; Reliable AI on Machine Human Reactions; Wearable Sensors and Robots; Wearable Robots for Assistance, Augmentation and Rehabilitation of Human Movements; Perception and Manipulation of Dexterous Hand for Humanoid Robot. Part III: Perception and Manipulation of Dexterous Hand for Humanoid Robot; Medical Imaging for Biomedical Robotics; Advanced Underwater Robot Technologies; Innovative Design and Performance Evaluation of Robot Mechanisms; Evaluation of Wearable Robots for Assistance and Rehabilitation; 3D Printing Soft Robots. Part IV: 3D Printing Soft Robots; Dielectric Elastomer Actuators for Soft Robotics; Human-like Locomotion and Manipulation; Pattern Recognition and Machine Learning for Smart Robots. Part V: Pattern Recognition and Machine Learning for Smart Robots; Robotic Tactile Sensation, Perception, and Applications; Advanced Sensing and Control Technology for Human-Robot Interaction; Knowledge-Based Robot Decision-Making and Manipulation; Design and Control of Legged Robots. Part VI: Design and Control of Legged Robots; Robots in Tunnelling and Underground Space; Robotic Machining of Complex Components; Clinically Oriented Design in Robotic Surgery and Rehabilitation; Visual and Visual-Tactile Perception for Robotics. Part VII: Visual and Visual-Tactile Perception for Robotics; Perception, Interaction, and Control of Wearable Robots; Marine Robotics and Applications; Multi-Robot Systems for Real World Applications; Physical and Neurological Human-Robot Interaction. Part VIII: Physical and Neurological Human-Robot Interaction; Advanced Motion Control Technologies for Mobile Robots; Intelligent Inspection Robotics; Robotics in Sustainable Manufacturing for Carbon Neutrality; Innovative Design and Performance Evaluation of Robot Mechanisms. Part IX: Innovative Design and Performance Evaluation of Robot Mechanisms; Cutting-Edge Research in Robotics.
Conference Proceedings Of 2022 2nd International Joint Conference On Energy Electrical And Power Engineering
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Author : Cungang Hu
language : en
Publisher: Springer Nature
Release Date : 2023-08-02
Conference Proceedings Of 2022 2nd International Joint Conference On Energy Electrical And Power Engineering written by Cungang Hu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-08-02 with Technology & Engineering categories.
This book will be a collection of the conference manuscripts presented at the 2022 2nd International Joint Conference on Energy, Electrical and Power Engineering covering new and renewable energy, electrical and power engineering. It is expected to report the latest technological developments in the fields developed by academic researchers and industrial practitioners. The application and dissemination of these technologies will benefit the research community, as new research directions are becoming increasingly interdisciplinary, requiring researchers from different research areas to come together and share ideas. It will also benefit the electrical engineering and energy industry, as we are now experiencing a new wave of industrial revolution, i.e. the electrification, intelligentisation and digitalisation of our transport, manufacturing processes and way of thinking.
Climbing And Walking Robots
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Author : Behnam Miripour-Fard
language : en
Publisher: BoD – Books on Demand
Release Date : 2010-03-01
Climbing And Walking Robots written by Behnam Miripour-Fard and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-01 with Technology & Engineering categories.
Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study.
Topics In Modal Analysis Testing Volume 8
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Author : Brandon J. Dilworth
language : en
Publisher: Springer Nature
Release Date : 2021-11-03
Topics In Modal Analysis Testing Volume 8 written by Brandon J. Dilworth and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-11-03 with Technology & Engineering categories.
Topics in Modal Analysis & Testing, Volume 8: Proceedings of the 39th IMAC, A Conference and Exposition on Structural Dynamics, 2021, the eighth volume of nine from the Conference, brings together contributions to this important area of research and engineering. The collection presents early findings and case studies on fundamental and applied aspects of Modal Analysis, including papers on: Operational Modal & Modal Analysis Applications Experimental Techniques Modal Analysis, Measurements & Parameter Estimation Modal Vectors & Modeling Basics of Modal Analysis Additive Manufacturing & Modal Testing of Printed Parts
Space Robotics
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Author : Xiu Tian Yan
language : en
Publisher: Springer Nature
Release Date : 2024-12-11
Space Robotics written by Xiu Tian Yan and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-12-11 with Technology & Engineering categories.
This book presents the latest research findings from leading space robotic researchers around the world, together with contributions from leading space systems industrialists on the practical aspects of research and development in space robotics. The book also considers future challenges and trends to provide a ‘look ahead’ for space robotics. The European Commission set up the “Space Robotic Technologies” Strategic Research Cluster (SRC) in its flagship funding programme Horizon 2020, with the goal of enabling major advances in strategic key points of Space Robotics Technologies, in order to improve European competitiveness. Space robotics have advanced rapidly in recent years, as reflected in recent successful space exploration missions like NASA’s successful landing and operation of the Curiosity rover on Mars, and the European Space Agency’s equally successful landing of its Philae probe on comet 67P/Churyumov–Gerasimenko. These advances have inspired many young graduates and undergraduates to study space robotics.
Assistive Robotics Proceedings Of The 18th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines Clawar 2015
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Author : Mohammad Osman Tokhi
language : en
Publisher: World Scientific
Release Date : 2015-08-13
Assistive Robotics Proceedings Of The 18th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines Clawar 2015 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 2015-08-13 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 assistive robotics. The book contains peer reviewed articles presented at the CLAWAR 2015 conference. The book contains a comprehensive collection of papers on legged locomotion with numbers of legs from two upward to multi-legs, which includes robots cable of climbing walls, poles, or more complex structures such as continuing the distinctive CLAWAR themes. There are also a strong showing of articles covering human assist devices, notably exoskeletal and prosthetic devices, as well as social robots designed to meet the growing challenges of global ageing population.
Biomechanical Principles On Force Generation And Control Of Skeletal Muscle And Their Applications In Robotic Exoskeleton
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Author : Yuehong Yin
language : en
Publisher: CRC Press
Release Date : 2019-09-05
Biomechanical Principles On Force Generation And Control Of Skeletal Muscle And Their Applications In Robotic Exoskeleton written by Yuehong Yin and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-09-05 with Computers categories.
This book systematically introduces the bionic nature of force sensing and control, the biomechanical principle on mechanism of force generation and control of skeletal muscle, and related applications in robotic exoskeleton. The book focuses on three main aspects: muscle force generation principle and biomechanical model, exoskeleton robot technology based on skeletal muscle biomechanical model, and SMA-based bionic skeletal muscle technology. This comprehensive and in-depth book presents the author's research experience and achievements of many years to readers in an effort to promote academic exchanges in this field. About the Author Yuehong Yin received his B.E. , M.S. and Ph.D. degrees from Nanjing University of Aeronautics and Astronautics, Nanjing, in 1990, 1995 and 1997, respectively, all in mechanical engineering. From December 1997 to December 1999, he was a Postdoctoral Fellow with Zhejiang University, Hangzhou, China, where he became an Associate Professor in July 1999. Since December 1999, he has been with the Robotics Institute, Shanghai Jiao Tong University, Shanghai, China, where he became a Professor and a Tenure Professor in December 2005 and January 2016, respectively. His research interests include robotics, force control, exoskeleton robot, molecular motor, artificial limb, robotic assembly, reconfigurable assembly system, and augmented reality. Dr. Yin is a fellow of the International Academy of Production Engineering (CIRP).