Energy dissipation rate control and parallel equations solving method for planar spined quadruped bouncing robot

Azimi, Mohsen; Yazdi, Mohammad Reza Hairi

doi:10.1007/s12206-016-0942-7

Cited by 3 publications

(3 citation statements)

References 22 publications

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“…EDRC is also used for ensuring the conservation of energy and closing the limit cycle over one complete walking cycle. The effectiveness of EDRC is demonstrated in our previous studies where is used to ensure the stability of a biped walking robot [19], quadruped bouncing robot [20], quadruped spined bouncing robot [21], and three legged galloping robot [22].…”

Section: Park Et Al Proposed a New Stability Criterion For Biped Robo...mentioning

confidence: 99%

Bipedal Robot Joint Trajectory Generation for Predetermined Zero Momentum Point

Aghamohammadinazari,

Azimi

2024

Preprint

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Numerous control methodologies have been proposed by researchers to develop an efficient bipedal dynamic walking robots that emulate human locomotion. In our previous works we have introduced Energy Dissipation Rate Control (EDRC) where a stable walking gait was achieved by regulating the rate of the energy dissipation, during each Impact Phases (IP). This method opposes previous works in this field where their core underlying approach revolves around modulating the robot's energy levels throughout each Single Support Phase (SSP). To ensure the stability of the biped robots, compliance with the Zero Momentum Point (ZMP) criterion is crucial. In this work, a new semi-analytical pattern generation approach is introduced to address this requirement. This new approach is capable of deriving all the robot's joint trajectories and torques by formulating the inverse kinematic and kinetic equations, along with ZMP criterion as a nonlinear state space system. For the first time in this work, it is shown how ZMP cause the coupling between the kinetic and kinematic equations which requires solving the inverse kinematic and kinetic equations simultaneously. Subsequently, this system of equation is solved by direct integration using Runge–Kutta method. Simulation results confirm the compatibility of the previously introduced EDRC method and the proposed semi-analytical pattern generation approach, as they can facilitate stable walking gait for biped robots.

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Section: Park Et Al Proposed a New Stability Criterion For Biped Robo...mentioning

confidence: 99%

Bipedal Robot Joint Trajectory Generation for Predetermined Zero Momentum Point

Aghamohammadinazari,

Azimi

2024

Preprint

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“…5 As a result, a wide variety of refined designs have been proposed. 6 Pfeifer and Bongard explain how the new robotics employ ideas and principles from biology (biomechanical studies). [7][8][9] Posa et al optimized the stability of the vehicles.…”

Section: Introductionmentioning

confidence: 99%

Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

Corral

Alonso

Gómez

et al. 2018

International Journal of Advanced Robotic Systems

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The goal of this article is to design a navigation algorithm to improve the capabilities of an all-terrain unmanned ground vehicle by optimizing its configuration (the angles between its legs and its body) for a given track profile function. The track profile function can be defined either by numerical equations or by points. The angles between the body and the legs can be varied in order to improve the adaptation to the ground profiles. A new dynamic model of an all-terrain vehicle for unstructured environments has been presented. The model is based on a half-vehicle and a quasi-static approach and relates the dynamic variables of interest for navigation with the topology of the mechanism. The algorithm has been created using a simple equation system. This is an advantage over other algorithms with more complex equations which need more time to be calculated. Additionally, it is possible to optimize to any ground-track-profile of any terrain. In order to prove the soundness of the algorithm developed, some results of different applications have been presented.

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“…The development of robots that copy movements from animals, like bipedal walking or quadruped, is of major interest in robotics [3]. As a result, a wide variety of refined designs have been proposed [4]. Pfeifer R & Bongard J [5][6][7] explains how the new robotics employs ideas and principles from biology (biomechanical studies).…”

Section: Introductionmentioning

confidence: 99%

The Quasi-Passive Quadruped Robot walking: PASIQUAD

Corral

Gómez

Alonso

et al. 2017

IRATJ

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The design of the four legged walking robot "PASIQUAD" is presented in this article. It was designed in the university Carlos III of Madrid. It is a quadruped quasi-passive robot (with only one motor/actuator). The manuscript is focused on how the PASIQUAD walks and the kinematics and dynamics of the movement. In the manuscript the position, velocity and acceleration of each of its parts, as well as all the forces and torques on each of them, motor torque included, will be explain. The PASIQUAD robot copy the movement of animals and it is almost passive. That is a big advantage in energy cost.

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Energy dissipation rate control and parallel equations solving method for planar spined quadruped bouncing robot

Cited by 3 publications

References 22 publications

Bipedal Robot Joint Trajectory Generation for Predetermined Zero Momentum Point

Bipedal Robot Joint Trajectory Generation for Predetermined Zero Momentum Point

Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

The Quasi-Passive Quadruped Robot walking: PASIQUAD

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