Thematische Bibliographien / Planar walking robot

Auswahl der wissenschaftlichen Literatur zum Thema „Planar walking robot“

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Veröffentlicht am 7. Juli 2024

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Zeitschriftenartikel zum Thema "Planar walking robot"

Zhou, Yu. „On the planar stability of rigid-link binary walking robots“. Robotica 21, Nr. 6 (24.10.2003): 667–75. http://dx.doi.org/10.1017/s0263574703005162.

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A binary walking robot moves as a result of bi-state actuator transitions. Because of the bi-state nature of binary joints, many research results about continuous walking robots cannot be applied to binary walking robots directly. In this paper, a new and simple model of rigid-link binary walking robot is proposed, around which related concepts are introduced, and formulas are derived. Based on this model, general characteristics and limitations of periodic gaits are discussed, and the stability qualities of several straight-line walking periodic gaits are studied in both pitch-greater-than-stroke and stroke-greater-than-pitch cases. Valuable results are obtained from the analysis, which should be followed in the design of rigid-link binary walking robots.

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Ghanbari, Ahmad, S. Mohammad Reza S. Noorani, Hamid HajiMohammadi und Aida Parvaresh. „Toward Realization a 7-Links Biped Robot - Trajectory Generation“. Advanced Materials Research 816-817 (September 2013): 712–16. http://dx.doi.org/10.4028/www.scientific.net/amr.816-817.712.

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Naturalistic walking is one of the most important purposes of researches on biped robots. A feasible way is to translate the understanding of human walking to robot walking. One of the options that affects the quality of motion in a biped robot is concerned with trajectory generation. So, in this paper it's focused on trajectory generation methods for implementing a 7-links planar walker biped robot. Also, this model is simulated by VisualNastran software package and run according to a Clinical Gait Analysis (CGA) reference that has been modified for a planar model. Lastly, the results of simulation are reported.

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Ji, Qiaoli, Zhihui Qian, Lei Ren und Luquan Ren. „How does ankle push-off balance the walking speed and energy efficiency of planar biped robots?“ Advances in Mechanical Engineering 13, Nr. 4 (April 2021): 168781402110119. http://dx.doi.org/10.1177/16878140211011905.

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Ankle push-off is defined as the phase in which muscle-tendon units about the ankle joint generate a burst of positive power during the step-to-step transition in human walking. The dynamic walking of a biped robot can be effectively realized through ankle push-off. However, how to use ankle push-off to balance the walking speed and energy efficiency of biped robots has not been studied deeply. In this study, the effects of the step length (the inter-leg angle is 40°, 50°, and 60°), torque and timing of ankle push-off on the walking speed and energy efficiency of biped robots were studied. The results show that when the step length is 50°, the push-off torque is 30 N· m and the corresponding push-off timing occurs at 43% of the gait cycle, the simulated robot obtains a highly economical walking gait. The corresponding maximum normalized walking speed is 0.40, and the minimum mechanical cost of transport is 2.25. To acquire a more economical walking gait of biped robots, the amount of ankle push-off and the push-off timing need to be coordinated. The purpose of this study is to provide a reference for the influence of ankle push-off on the motion performance of biped robots.

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Agrawal, Abhishek, und Sunil K. Agrawal. „An Approach to Identify Joint Motions for Dynamically Stable Walking“. Journal of Mechanical Design 128, Nr. 3 (21.07.2005): 649–53. http://dx.doi.org/10.1115/1.2181996.

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Biped robots are more versatile than conventional wheeled robots, but they tend to tip over easily. The dynamic stability of a biped robot needs to be maintained during walking. In this paper, a novel approach to compute dynamically stable walking motions of a planar six degree-of-freedom biped is presented. This approach is analytical and is based on the need for periodicity of the motion. The resulting gait satisfies the dynamic stability criteria. Sets of joint motions for different step sizes and speed of walking, i.e., quasi-statically and dynamically stable walking patterns, can be obtained.

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Anjidani, Majid, M. R. Jahed Motlagh, M. Fathy und M. Nili Ahmadabadi. „A novel online gait optimization approach for biped robots with point-feet“. ESAIM: Control, Optimisation and Calculus of Variations 25 (2019): 81. http://dx.doi.org/10.1051/cocv/2017034.

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Designing a stable walking gait for biped robots with point-feet is stated as a constrained nonlinear optimization problem which is normally solved by an offline numerical optimization method. On the result of an unknown modeling error or environment change, the designed gait may be ineffective and an online gait improvement is impossible after the optimization. In this paper, we apply Generalized Path Integral Stochastic Optimal Control to closed-loop model of planar biped robots with point-feet which leads to an online Reinforcement Learning algorithm to design the walking gait. We study the ability of the proposed method to adapt the controller of RABBIT, which is a planar biped robot with point-feet, for stable walking. The simulation results show that the method, starting a dynamically unstable initial gait, quickly compensates the modeling error and reaches to a walking with exponential stability and desired features in a new situation which was impossible by the past methods.

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BAGHERI, AHMAD, FARID NAJAFI, REZA FARROKHI, RAHMAN YOUSEFI MOGHADDAM und MOHAMMAD EBRAHIM FELEZI. „DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT“. International Journal of Humanoid Robotics 03, Nr. 01 (März 2006): 105–26. http://dx.doi.org/10.1142/s0219843606000527.

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Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, "supporting leg and trunk" and "swing leg" separately, the stability of robot is achieved by locating the zero moment point (ZMP). A dynamic modification is developed for ZMP positioning. For motion control of the robot, the physical parameters (such as mass, link length and geometry) are estimated (identified) by adaptive methods. A Matlab based software simulation is also conducted.

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Channon, P. H., S. H. Hopkins und D. T. Pham. „Derivation of optimal walking motions for a bipedal walking robot“. Robotica 10, Nr. 2 (März 1992): 165–72. http://dx.doi.org/10.1017/s026357470000758x.

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SUMMARYThe problem of determining energy optimal walking motions for a bipedal walking robot is considered. A full dynamic model of a planar seven-link biped with feet is derived including the effects of impact of the feet with the ground. Motions of the hip and feet during a regular step are then modelled by 3rd order polynomials, the coefficients of which are obtained by numerically minimising an energy cost function. Results are given in the form of walking profiles and energy curves for the specific cases of motion over level ground, motion up and down an incline, and varying payload.

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Tang, Yongchen, Shugen Ma, Yi Sun und Dingxin Ge. „Planar legged walking of a passive-spine hexapod robot“. Advanced Robotics 29, Nr. 23 (21.08.2015): 1510–25. http://dx.doi.org/10.1080/01691864.2015.1070105.

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Krishchenko, A. P., S. B. Tkachev und D. A. Fetisov. „Planar walking control for a five-link biped robot“. Computational Mathematics and Modeling 18, Nr. 2 (April 2007): 176–91. http://dx.doi.org/10.1007/s10598-007-0018-8.

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Şafak, Koray K., Turgut Batuhan Baturalp und Selim Bozkurt. „Parametric Design and Prototyping of a Low-Power Planar Biped Robot“. Biomimetics 8, Nr. 4 (05.08.2023): 346. http://dx.doi.org/10.3390/biomimetics8040346.

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This study proposes a design approach and the development of a low-power planar biped robot named YU-Bibot. The kinematic structure of the robot consists of six independently driven axes, and it weighs approximately 20 kg. Based on biomimetics, the robot dimensions were selected as the average anthropomorphic dimensions of the human lower extremities. The optimization of the mechanical design and actuator selection of the robot was based on the results of parametric simulations. The natural human walking gait was mimicked as a walking pattern in these simulations. As a result of the optimization, a low power-to-weight ratio of 30 W/kg was obtained. The drive system of the robot joints consists of servo-controlled brushless DC motors with reduction gears and additional bevel gears at the knee and ankle joints. The robot features spring-supported knee and ankle joints that counteract the robot’s weight and compensate for the backlash present in these joints. The robot is constrained to move only in the sagittal plane by using a lateral support structure. The robot’s feet are equipped with low-cost, force-sensitive resistor (FSR)-type sensors for monitoring ground contact and zero-moment point (ZMP) criterion. The experimental results indicate that the proposed robot mechanism can follow the posture commands accurately and demonstrate locomotion at moderate stability. The proposed parametric natural gait simulation-based design approach and the resulting biped robot design with a low power/weight ratio are the main contributions of this study.

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Dissertationen zum Thema "Planar walking robot"

Langard, Morgan. „Robot humanoïde bioinspiré : Conception et expérimentation“. Electronic Thesis or Diss., Angers, 2023. http://www.theses.fr/2023ANGE0079.

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En robotique humanoïde, la marche bipède est encore un sujet de recherche riche : développement de loi de commande, génération de trajectoires de marche, conception d’architectures originales, etc. Les robots bipèdes utilisent classiquement des moteurs rotatifs. Ces actionneurs sont couplés à un système de réduction afin de fournir les couples requis. Cette combinaison impose de trouver un compromis entre le couple de sortie et la réversibilité du système d’actionnement, limitant l’absorption des impacts. Une alternative possible est l’utilisation de moteurs linéaires à entraînement direct, mécaniquement réversibles. Seulement, les moteurs linéaires sont peu utilisés, avec un ensemble moteur rotatif-vis-mère ayant une réversibilité limitée. Ce type de moteur générant des translations, la production d’un couple se fait par bras de levier. Cette spécificité demande un placement optimal des moteurs, afin d’assurer la faisabilité des couple requis. Afin d’étudier l’intérêt des moteurs linéaires réversibles, une évaluation de l’utilisation de cette technologie pour concevoir un robot bipède planaire est proposée. Plusieurs architectures de robot bipède planaire utilisant des moteurs linéaires pour l’actionnement sont simulées et comparées sur différents mouvements. En parallèle, une géométrie maximisant la faisabilité est obtenue par optimisation pour chacune des architectures. À partir de ces résultats, un prototype de robot bipède planaire actionné exclusivement par des moteurs linéaires a été conçu pour valider les résultats de simulation
In the field of humanoïd robotic, bipedal walking is still an open research fiel, such as the development of control laws, trajectory generation or original architecture designs. Bipedal robots classicaly use rotative motors for their actuation system. These motors are usually coupled with a reduction system in order to achieve sufficient torques. This combination impose to compromise between the output torque and the mecanical reversibility of the system, which limits impact absorption. An alternative is the use of direct-drive linear actuators, inherently reversible. However, linear motors are scarcely used with a rotative actuator linked to a ball-screw, with a limited reversibility. As linear motors produce a translational force, a torque is generated through a lever arm. This specificity requires an optimal placement of the actuators to en sure the feasability of the required torques. To improve our knowledge of this technology and evaluate its use in the robotic field, multiple bipedal planar robot architectures are simulated along different trajectories and compared. In parallel, an optimal geometry is computed for each architecture to maximize motion feasability. From these results, a prototype using solely direct-drive linear actuators is designed and built in order to verify simulation data

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Yang, Tao. „Control of aperiodic walking and the energetic effects of parallel joint compliance of planar bipedal robots“. Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1196203534.

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Yang, Yun-Yu, und 楊昀諭. „Modeling and Walking Control of a Seven-link Planar Biped Robot“. Thesis, 2012. http://ndltd.ncl.edu.tw/handle/40155465814225506651.

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碩士
國立中興大學
機械工程學系所
100
In this thesis, modeling and control of a seven-link planar biped robot are considered. The dynamics models including the double support phase and single support phase motion equations are first derived using the Lagrange’s equations. And then based on conservation of angular momentum, the impact’s angular velocity transformation equations are derived. A gait pattern consisted of a preparation phase, two complete paces, and one ending phase, is synthesized by considering the support leg as a single inverted pendulum and the swing leg’s trajectories are planned via polynomial interpolation. Inverse kinematics equations are derived using geometric methods for calculating the joint trajectories of the swing leg. Furthermore, based on Lyapunov stability, stable adaptive controls for the double support and single support phase are respectively derived. In the stable adaptive controllers, radial basis neural network (RBNN) function approximators are included to compensate for the model uncertainty. Finally, computer simulations are presented to illustrate the effectiveness of the suggested control strategy.

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Pasupuleti, Murali Krishna. „Design and Implementation of Voltage Based Human Inspired Feedback Control of a Planar Bipedal Robot AMBER“. Thesis, 2012. http://hdl.handle.net/1969.1/ETD-TAMU-2012-08-11447.

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This thesis presents an approach towards experimental realization of underactuated bipedal robotic walking using human data. Human-inspired control theory serves as the foundation for this work. As the name, "human-inspired control," suggests, by using human walking data, certain outputs (termed human outputs) are found which can be represented by simple functions of time (termed canonical walking functions). Then, an optimization problem is used to determine the best fit of the canonical walking function to the human data, which guarantees a physically realizable walking for a specific bipedal robot. The main focus of this work is to construct a control scheme which takes the optimization results as input and delivers human-like walking on the real-world robotic platform - AMBER. To implement the human-inspired control techniques experimentally on a physical bipedal robot AMBER, a simple voltage based control law is presented which utilizes only the human outputs and canonical walking function with parameters obtained from the optimization. Since this controller does not require model inversion, it can be implemented efficiently in software. Moreover, applying this methodology to AMBER, experimentally results in robust and efficient "human-like" robotic walking.

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Li, Hau-Koung, und 李皓光. „Path Planning and Simulation of Autonomous Quadruped Robot Walking through Non-planar Type River-stone Terrain“. Thesis, 2008. http://ndltd.ncl.edu.tw/handle/69551529818831413067.

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碩士
國立交通大學
機械工程系所
96
The applications of a quadruped robot are adopted quite extensive, such as military, industry, entertainment, etc. Higher and higher topographical and environmental adaptive capacity requirement pushes the research intensity focus on the autonomous, sensory technology and gait planning etc. The related research works about multi-leg locomotive have been afforded a big progress recently. There are quite a few research works focus on the gait development of discontinuous terrain such as the case of a quadruped robot climbing on an inclined wall surface only by holding the protuberance with planned gait control. The study proposed an innovative path planning methodology to calculate and generate a gait for quadruped robot to walk through a river-stone terrain. The Monte Carlo searching method is proposed to generate an obstacle avoidance and shortest trajectory for foot print of each leg in the configuration workspace of the quadruped robot. And it was followed by ZMP stabilization checking rule to ensure that the robot is stable at any moment. To get with the terrain, the study also includes some typical motions task in the path generation function, such as walking aslope, climbing steps, etc. Then, every single gait data could be programmed by the above-mentioned method and softward system. The programmed gait data have been transferred into ADAMS system to verify its correctness and stabilization of the planned gait for the quadruped robot walking through a discontinuous river-stone terrain. Some problems were observed and modified by the simulation results to match more practical situation. Finally, the study also build up an autonomous quadruped system NC-BH-3 to demonstrate the usefulness and efficiency of the gait generated by proposed methodology.

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Buchteile zum Thema "Planar walking robot"

Yamano, Junsei, Masaki Kurokawa, Yuki Sakai und Kenji Hashimoto. „Walking Motion Generation of Bipedal Robot Based on Planar Covariation Using Deep Reinforcement Learning“. In Synergetic Cooperation Between Robots and Humans, 217–28. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-47269-5_21.

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Van Damme, M., R. Van Ham, B. Vanderborght, F. Daerden und D. Lefeber. „Design of a “Soft” 2-DOF Planar Pneumatic Manipulator“. In Climbing and Walking Robots, 559–66. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_67.

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M’sirdi, N. K., N. Khraief und O. Licer. „Gaits Stabilization for Planar Biped Robots Using Energetic Regulation“. In Climbing and Walking Robots, 611–23. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_61.

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Harvey, D., G. S. Virk und D. Azzi. „GA Optimisation of the PD Coefficients for the LMBC of a Planar Biped“. In Climbing and Walking Robots, 577–84. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_57.

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Sadati, Nasser, Guy A. und Kaveh Akbari. „Design of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization“. In Human-Robot Interaction. InTech, 2010. http://dx.doi.org/10.5772/8144.

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Konferenzberichte zum Thema "Planar walking robot"

Kumar, Akshay, und Vivek Sangwan. „Planar Bipedal Walking Robot with Differentially Flat Dynamics“. In 10th Vienna Conference on Mathematical Modelling. ARGESIM Publisher Vienna, 2022. http://dx.doi.org/10.11128/arep.17.a17203.

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Bhattacharya, Subhrajit, Sachin Chitta, Vijay Kumar und Daniel Lee. „Optimization of a Planar Quadruped Dynamic Leap“. In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-50072.

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Quadruped walking robots need to handle high obstacles like steps that are often not kinematically reachable. We present a dynamic leap that allows a quadruped robot to put its front legs up onto a high rock or ledge, a motion we have found is critical to being able to locomote over rough terrain. The leaping motion was optimized using a simulated planar quadruped model. We present experimental results for the implementation of this optimized motion on a real quadruped robot.

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Westervelt, E. R., G. Buche und J. W. Grizzle. „Inducing dynamically stable walking in an underactuated prototype planar biped“. In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. IEEE, 2004. http://dx.doi.org/10.1109/robot.2004.1308942.

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Martin, Anne E., und James P. Schmiedeler. „Experimental Validation of a Walking Model for Planar Bipeds With Curved Feet“. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48243.

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Bipeds with curved feet typically require less energy for walking than do point- or flat-footed bipeds, and they tend to mimic human gait more closely. Thus, understanding the effects of curved feet on bipedal walking gaits has the potential to improve both humanoid robot efficiency and human rehabilitation. This paper derives the equations of motion for planar bipeds with curved feet under the assumption, among others, of instantaneous transfer of support between the legs. The paper then verifies the mathematical model by comparing the results of simulation to previous experimental results for two very different bipedal robots — McGeer’s two-link, passive dynamic walker traversing a decline and the five-link, actuated biped ERNIE walking on a treadmill with a supporting boom. In both cases, the results from simulation match the experimental results very well despite the simplifying assumptions, indicating that the mathematical model captures the dominate dynamics of bipedal robots with curved feet.

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Azimi, Mohsen, und M. R. Hairi Yazdi. „Energy Dissipation Rate Control for Planar Biped Walking Robot Based on the Property of Passive Dynamic Walking“. In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-39628.

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Several control methods based on passive dynamic walking have been proposed by researchers to provide an efficient human-like biped walking robot. For most of these passive based controllers the main idea is to shape the robot’s energy level during each Single Support Phase (SSP) to restore the mechanical energy which has been lost in the previous Impact Phases (IP). In this paper, instead of controlling the energy restoration rate during each SSP, a new strategy is introduced which provides a stable walking by controlling the energy dissipation rate during each IP. Subsequently, this method is applied to an anti-trunk biped robot with lockable knee joints to realize an active dynamic walking on level ground. Simulation results show, the proposed method is effective.

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Hou, Wenqi, Honglei An, Taihui Zhang, Jian Wang und Hongxu Ma. „Robust walking control of a planar spring mass biped robot“. In 2015 International Conference on Control, Automation and Robotics (ICCAR). IEEE, 2015. http://dx.doi.org/10.1109/iccar.2015.7166007.

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Galindo, Raul Lema, Elise Weimholt und James P. Schmiedeler. „Actuated Dual-Slip Model of Planar Slope Walking“. In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97601.

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Abstract The planar dual spring-loaded inverted pendulum (dual-SLIP) model is a well-established passive template of human walking on flat ground. This paper applies an actuated extension of the model to walking on inclines and declines to evaluate how well it captures the behavior observed in human slope walking. The motivation is to apply the template to improve control of humanoid robot walking and/or intent detection in exoskeleton-assisted walking. Gaits of the actuated planar dual-SLIP model are found via the solution of a constrained nonlinear optimization problem in ten parameters. The majority of those parameters define the actuation scheme that injects energy for incline walking and absorbs energy for decline walking to achieve periodic, nonconservative gaits. Solution gaits across the speed range of 1.0 to 1.6 ms and slope range of −10 to 10 degrees exhibit some of the characteristics of human walking, such as the effect of slope on stance duration, step frequency, and step length. Efforts to reduce the number of parameters optimized by enforcing relationships observed in the solution gaits proved unsuccessful, suggesting that future work must trade off model complexity with fidelity of representation of human behavior.

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Fattah, A., und A. Fakhari. „Trajectory Planning of Walking With Different Step Lengths of a Seven-Link Biped Robot“. In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28626.

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Most of the essential parameters of the human walking can be captured with a seven-link planar biped robot. In this paper, dynamics modeling and trajectory planning of a seven-link planar biped robot walking on a level ground with a ditch or stairs are studied. The hip and foot trajectories are designed in Cartesian space using polynomial interpolation such that to vanish the impact effect of feet with ground. The key parameters of the hip joint trajectory in x-axis direction are obtained using boundaries of biped stable region during the walking to satisfy dynamic stability of robot. Then the highest position of the swing foot ankle joint in x and z-axis direction is optimized with two different fitness functions. Next, a novel method for trajectory planning of walking with different step lengths, uses for online trajectory planning, is proposed. Finally, the effectiveness of the proposed method is verified by simulation and experimental results.

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Lebastard, Vincent, Yannick Aoustin und Franck Plestan. „Observer-based control of a walking planar biped robot: Stability analysis“. In 2007 46th IEEE Conference on Decision and Control. IEEE, 2007. http://dx.doi.org/10.1109/cdc.2007.4434419.

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Nguyen, Tri Dung. „Stable Walking Gait Design for 5-links Underactuated Planar Biped Robot“. In 2022 6th International Conference on Green Technology and Sustainable Development (GTSD). IEEE, 2022. http://dx.doi.org/10.1109/gtsd54989.2022.9989190.

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