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Cable-driven parallel robot (CDPR) is one of robots hard to dealing with because of their nonlinear characteristics based on the elasticity of cables. This paper suggests a design of sliding-mode controller as a solution to control the over-constrained planar CDPR with consideration of cable stiffness and motor dynamics. The system model has 4 elastic cables with linear stiffness force and motor dynamics...
Cable driven parallel robots (CDPRs) are widely used recently. To achieve accurate and fast tracking performance with CDPRs, suppressing vibration is necessary. Input shaping method that cancels vibration by redesigning input can be used, but usual input shaping method is suit to single-mode systems. Multi-mode input shaping method was suggested to make it apply to multi-mode systems. The multi-mode...
In this paper, a method for a biped to quickly change its running direction is proposed. To change the running direction of the biped robot, a rotation of the body is needed. When the robot rotates its body during a support phase, however, there may be a few limitations such as the workspace of hardware and the time. To overcome these limitations, the running direction of the biped robot is changed...
For a biped robot to have the capability to change the direction of locomotion fast without tripping itself is important in enhancing its mobility. This paper proposes a new method to realize a quick and natural turn, or to make an abrupt change in the walking direction of a biped robot by taking advantage of a foot slip, which is created intentionally between the sole of the foot and the ground....
Trotting on irregular terrain is a difficult task as undesirable impulse force by collision between robot foot and an obstacle makes the robot unstable. To cope with the problem, in this paper, variable impedance control algorithm changing leg impedance parameters according to the change of finite trot states is proposed. The state of quadruped trot is divided into five phases and the impedance parameters...
This paper proposes a method to change the speed of gallop for a quadruped robot by controlling the vertical ground reaction forces. For easy and stable galloping of a quadruped robot, the basic motion of each foot with respect to its main body is expressed by an elliptic path. The elliptic footpath is simple, efficient and quite similar to that of a four-legged animal. The desired GRF is computed...
This paper introduces the quadruped robot called HUNTER (Hanyang UNiversity TEtrapod Robot), its control and dynamic simulation of trot gait. HUNTER has three active joints and two passive spring joints at each leg. The design of this leg is based on the biological analysis of a typical 4 legged-animal, a dog. Passive joints on the legs are designed to reduce the ground impact when they land on the...
In previous researches, most of biped robots have walked with their knees bent. However, a human walks without bending his or her knees, which defines ldquonaturalrdquo gaits. This is one of the significant differences between human locomotion and biped robot locomotion. This paper proposes a method to generate natural locomotion trajectory without bending knees but based on using a 2-DOF model of...
This paper proposes a method of running pattern generation for biped robot. Prescribed ZMP (zero moment point) pattern is used to generate CoM (center of mass) motion. The ZMP pattern is generated by moving-spring-loaded inverted pendulum (SLIP) model. To reduce the ground impact, transitional motion of the landing foot is proposed. And the motion of foot is determined by using difference of ZMP and...
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