Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Komarsofla, Amin Khakpour; Yazdi, Ehsan Azadi; Eghtesad, Mohammad

doi:10.1017/s0263574720001447

Cited by 5 publications

(1 citation statement)

References 27 publications

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“…In ref. [5][6][7], the jumping separation form of the robot is described from three aspects: one-legged hopping, water bouncing, and biped robot sliding jumping. Wang et al [8] conducted the dynamic analysis of space ejection using separation slide rails deployed at random positions and solved the angular velocity problem caused by eccentricity.…”

Section: Introductionmentioning

confidence: 99%

Emergency ejection characteristics of space manipulator multi-body system

Cai

Deng

et al. 2023

Robotica

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Space manipulators are typically installed on spacecraft using an emergency separation device (ESD). In the event of a malfunction, the ESD ejects the manipulator from the spacecraft. However, due to the relative rotation of the manipulator’s joints during the ejection, the equivalent ejection mass varies depending on different attitudes. This paper focuses on studying manipulators equipped with separation slide rails and analyzes their ejection characteristics under different attitudes to determine the optimal manipulator attitude for ejection. Initially, the ejection dynamics model of the space manipulator is established using the Lagrangian method, based on the kinetic energy equation, kinematics equation, and the boundary condition between the manipulator and ESD. Afterward, the space dynamics model is transformed into the dynamic model of plane ejection state by recursion formula. From this model, the equivalent ejection mass and ejection velocity are obtained, and the joint angular variation during ejection is acquired by considering joint friction torque. Using the law of conservation of angular momentum, the ejection angular velocity is then calculated. Finally, this study selected a 7-DOF space manipulator as an example and adjusted the damping parameter B of the joint for more precise calculations by choosing the attitude with a relatively larger joint angular variation. The modified model was then tested for its applicability to other attitudes. After determining the value of B, the correctness of the algorithm was validated by MATLAB calculation, ADAMS simulation, and real object ejection test.

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Section: Introductionmentioning

confidence: 99%

Emergency ejection characteristics of space manipulator multi-body system

Cai

Deng

et al. 2023

Robotica

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Research on the biomimetic quadruped jumping robot based on an efficient energy storage structure

Zhang,

Zhao,

Zhang

et al. 2024

Robotica

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The ability of quadruped robots to overcome obstacles is a critical factor that limits their practical application. Here, a design concept and a control algorithm are presented that aim at enhancing the explosive force of quadruped robots during jumping by utilizing elastic energy storage components. The hind legs of the quadruped robot are designed as energy storage units. Tension springs are utilized as components for storing energy and are installed in a parallel structure on the hind leg. Energy is stored during the compression process of the robot’s torso and released during the jumping phase. The optimal foot force is calculated using a single rigid body model. The mapping relationship between the force applied to the foot and the resulting joint torque is established by developing a dynamic model of the hind legs. Simulation experiments were conducted using the Webots physics engine to compare the impact of varying spring stiffness on joint torque during the jumping process. This study determined the optimal spring stiffness under specific conditions. The hind legs’ torque saving ratio reaches 19%, and the energy-saving ratio reaches 13%, which validates the effectiveness and feasibility of integrating elastic energy storage components.

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