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Nowadays, numerous ideas has been introduced in developing Bio-inspired robot. Legged robot is the best example of bio-inspired robot. One of the challenging areas in developing these type of robot is control architecture, especially in position control. As the number of legs and its joints is increased, the requirements of robust position control become more demanding as legged robot requires coordination...
The hydraulic drive legged robot with high performance is introduced in this paper. When the robotic foot contacts the ground, the collision and impact can easily take place. Therefore, the robotic leg joint should possess certain compliance. In order to enhance the compliance of robotic leg joint, the paper researches the position-based impedance control method. Besides, the analysis for the composition...
Contribution deal with the measurement of the operating characteristics of the piezoelectric linear motor Linear Piezo LEGS Twin 20N type LT20 and control unit PDM101 both from PiezoMotor. The data processing and evaluation was performed. The motor was tested in a vacuum environment and has been studied primarily precision of positioning (micro-positioning) under different operating conditions.
Legged robots are superior in terms of agility and versatility while inferior in stability compared to their wheeled or tracked counterparts. Researchers have developed some algorithms for quadruped robots to achieve impact absorption. Unfortunately those robots all refer to dynamic control and have high demands on the hardware performance. In this paper, we present an approach for quadruped robot...
This paper describes the verification of response speed and energy efficiency in compliance control. In compliance control, robots detect the external force and modify the trajectory depending on virtual impedance. In conventional compliance control, the control drive robots as soft for environment because robots are hardness. However, robots should be drived as both soft and hard to achieve dinamic...
A Force Threshold-based Position (FTP) controller is presented for cyclic legged locomotion over irregular terrain. Force feedback in the form of threshold comparison is used to control each leg independently. The FTP controller decouples the control of individual legs and uses only localized feedback to generate joint torques. No feedback of body state is needed and no multi-leg Jacobian is computed...
A novel behavior based locomotion controller (BBLC) capable of adapting to unknown disturbances is presented. The proposed controller implements a behavior based control architecture by subdividing the walking control into several task-space controllers such as swing leg control and center of gravity (COG) position control. For each task-space controller, a number of behaviors, which plan the reference...
This paper proposes the switching control method to realize stable landing for a biped robot. If the landing of the biped robot is unstable, the robot may fall down. Therefore, it is necessary for the biped robot to realize stable landing. In order to achieve the stable landing, force controller should be implemented at the moment of landing. Since force control enables the sole to softly contact...
This paper proposes the novel force control method based on higher-order derivative for high-backdrivable actuation of the robot employing elastomer-based series elastic actuators (SEAs). Control of SEAs is generally difficult because they consist of an underactuated 2-inertia system. Previously, we control it with a position control method. Lately, we employ a torque control method to overcome several...
Inspired by the Silver Surfer comics we developed a leaning-based surfboard interface which allows the user to fly in 3D virtual environments by shifting his/her center of mass on the board. The interface works in either an elastic tilt mode or an isometric balance mode offering different equilibrioceptive feedback to the user. Interested in how different levels of equilibrioceptive feedback influence...
Biological studies on animal walking and running have contributed to the control of mobile robots. Taking inspiration from such studies, a hybrid impulse-position (HIP) controller has been developed for legged locomotion over uneven terrain. The HIP controller generates joint torques during the stance phase of each leg cycle to propel and stabilize the body, and is meant to operate with CPG-based...
In this paper, we present a new concept of multi-legged seabed robot for high tidal current environment. The robot moves on seabed by walking with 4 or 6 legs which is different moving mechanism from the existing underwater thrust system such as screw or Caterpillar. The main concept to endure the high current is utilization of hydrodynamic forces acting on the body and legs. The advantage of this...
This paper presents finite state control (FSC) of paraplegic walking with wheel walker using functional electrical stimulation (FES) with spring brake orthosis (SBO). The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion...
This paper described the structure of a flexible miniature pneumatic robotic system which can move in human cavities, it makes inchworm-like movement driven by a 3-DOF (Degree of Freedom) pneumatic rubber actuator and holds its positions by air chambers. The high speed switch electromagnetic valve control system was designed for the robot locomotion in tube. The valve control circuit and the valve...
This paper investigate Zero Movement Point (ZPM) dynamic control of walking robots and develop an open architecture of real time control multiprocessor systems, in view of obtaining new capabilities for walking robots. Considering the complexity of the movement mechanism of a walking robot being a repetitive tilting process with numerous instable movements can lead to its turnover on an uneven terrain...
Underactuated system is a nonholonomic system that has less than the system degrees of freedom controller, light weight, low cost, energy consumption and many other advantages. This under actuated hexapod bio-robot-RR Robot, the objective is minimizing the energy loss, the use of genetic algorithms and particle swarm optimization RR Robot trajectory planning, simulation results show two algorithms...
Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model...
Usually the bipedal robots use knee joints with only one degree of freedom. Several biomechanical researches have proved that the human knee joint is a complex joint with more than one degree of freedom. In the sagittal plane the human knee joint allows a rolling and a sliding of the thigh on the shin. In the case of a bipedal robot we propose a closed structure, called cross four-bar knee, which...
This article is aimed at presenting a technique to generate bipedal walking trajectories that can be applied to humanoid robots. The proposed method is based on maintatining the dynamic balance by using the ZMP criterion throughout single support phases. To be able to reach this goal, we employed ZMP equations in spherical coordinates, so that the rate change of intrinsic angular momentum terms in...
This paper presents a new controller that can achieve an asymptotically stable, periodic walking gait for a 3D biped robot, which has 14 DOF in the single support phase and 14 actuators. In order to avoid the unexpected rotation of the supporting foot, two positions of the zero moment point or ZMP in the horizontal plane are regulated. For a 3D robot with 14 actuated joints, since the 2 positions...
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