Design and control of a recovery system for legged robots

Abstract

This paper describes the design and control of a support and recovery system for use with planar legged robots. The system operates in three modes. First, it can be operated in a fully transparent mode where no forces are applied to the robot. In this mode, the system follows the robot closely to be able to quickly catch the robot if needed. Second, it can provide a vertical supportive force to assist a robot during operation. Third, it can catch the robot and pull it away from the ground after a failure to avoid falls and the associated damages. In this mode, the system automatically resets the robot after a trial allowing for multiple consecutive trials to be run without manual intervention. The supportive forces are applied to the robot through an actuated cable and pulley system that uses series elastic actuation with a unidirectional spring to enable truly transparent operation. The nonlinear nature of this system necessitates careful design of controllers to ensure predictable, safe behaviors. In this paper we introduce the mechatronic design of the recovery system, develop suitable controllers, and evaluate the system's performance on the bipedal robot RAMone.

Design of a Smart Teaching English Translation System Based on Big Data Machine Learning

“…In 1954, the machine translation experiment conducted by Georgetown University and IBM was regarded as a milestone in this field (Liu et al, 2021). Looking back on the development of machine translation, it can be roughly divided into three stages (Green et al, 2016). The first stage is rule-based machine translation (RBMT), which requires the help of bilingual dictionaries and linguistic rules of each language (Lei et al, 2020).…”