Exponentially stabilizing an one-legged hopping robot with non-SLIP model in flight phase

He, Guangping; Zhang, Geng

doi:10.1016/j.mechatronics.2008.10.001

Cited by 15 publications

(11 citation statements)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The nonlinear dynamic control for a novel one-legged hopping robot in flight phase is investigated. 36 Based on humanoid robots, Wang et al 37 developed an adaptive feedforward control strategy to stabilize underactuated biped robots that walk on compliant ground. However, the study of walking robots is extremely challenging for designers and producers.…”

Section: Ur Walking Mechanismmentioning

confidence: 99%

Underactuated robotics: A review

Wang

Liu

2019

International Journal of Advanced Robotic Systems

148

102

View full text Add to dashboard Cite

Underactuated robotics is an emerging research direction in the field of robotics. The control input of the underactuated robot is less than the degree of freedom of the system. It has the advantages of lightweight, low energy consumption, excellent performance, and broad development prospects. This article reviews the state of the art on underactuated robotics. On the basis of previous studies, this article takes the non-holonomic constraint equation as the entry point to classify and summarize underactuated robot and their common mechanisms. The controllability of underactuated robot is further discussed. The control flow of underactuated robot is described based on the open-closed control method. In the closed-loop control, the control method based on the fuzzy system is mainly used. Finally, the difficulties in the current research of underactuated robot are summarized, and the future research directions are prospected.

show abstract

Section: Ur Walking Mechanismmentioning

confidence: 99%

Underactuated robotics: A review

Wang

Liu

2019

International Journal of Advanced Robotic Systems

148

102

View full text Add to dashboard Cite

show abstract

“…Robotic tails in the literature draw inspiration from animals such as fish [14,15], cheetahs [16,17], and lizards [18]. However, unlike their biological inspiration, terrestrial robotic tail designs focus primarily on single degree-offreedom (DOF) pendulumlike structures operating in the yaw [19][20][21], pitch [17,22], or roll [23] directions. Two degrees-offreedom pendulums have also been demonstrated in the pitch-yaw [24][25][26] and pitch-roll [16] directions.…”

Section: Robotic Tailmentioning

confidence: 99%

Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail

Rone

Saab

Ben-Tzvi

2018

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

This paper presents the novel design of a bioinspired robot capable of generating spatial loading relative to its base. By looking to nature at how animals utilize their tails, a bioinspired structure is developed that utilizes a redundant serial chain of rigid links to mimic the continuous deformation of a biological tail. Individual links are connected by universal joints to enable a spatial robot workspace capable of generating spatial loading comprised of pitch, yaw, and roll direction contributions. Two sets of three cables are used to create two actuated segments along the robot. A dynamic model of the robot is derived using prescribed cable displacement trajectories as inputs to determine the resulting joint angle trajectories and cable tensions. Sensors are integrated on-board the robot to calculate joint angles and joint velocities in real-time for use in feedback control. The loading capabilities of the robot are analyzed, and an experimental prototype is integrated and demonstrated.

show abstract

“…In terms of mechanical design, all the tails resemble single body rigid pendulums. Pitch degree-of-freedom (DOF) tails have been used for dynamic applications such as mid-air attitude control [24][25][26] and aiding the acceleration of mobile robots 27 . Yaw DOF tails have been used in dynamic applications involving maneuvering (turning) 28,29 and propulsion 30 , and static applications to provide a counterbalance for stable walking of a bipedal robot 31 .…”

Section: Robotic Tailsmentioning

confidence: 99%

Discrete modular serpentine robotic tail: design, analysis and experimentation

Saab¹,

Rone²,

Ben-Tzvi³

2018

Robotica

View full text Add to dashboard Cite

SUMMARYThis paper presents the design, analysis and experimentation of a Discrete Modular Serpentine Tail (DMST). The mechanism is envisioned for use as a robotic tail integrated onto mobile legged robots to provide a means, separate from the legs, to aid stabilization and maneuvering for both static and dynamic applications. The DMST is a modular two-degree-of-freedom (DOF) articulated, under-actuated mechanism, inspired by continuum and serpentine robotic structures. It is constructed from rigid links with cylindrical contoured grooves that act as pulleys to route and maintain equal displacements in antagonistic cable pairs that are connected to a multi-diameter pulley. Spatial tail curvatures are produced by adding a roll-DOF to rotate the bending plane of the planar tail curvatures. Kinematic and dynamic models of the cable-driven mechanism are developed to analyze the impact of trajectory and design parameters on the loading profiles transferred through the tail base. Experiments using a prototype are performed to validate the forward kinematic and dynamic models, determine the mechanism's accuracy and repeatability, and measure the mechanism's ability to generate inertial loading.

show abstract

Exponentially stabilizing an one-legged hopping robot with non-SLIP model in flight phase

Cited by 15 publications

References 31 publications

Underactuated robotics: A review

Underactuated robotics: A review

Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail

Discrete modular serpentine robotic tail: design, analysis and experimentation

Contact Info

Product

Resources

About