Stabilization System of a Bipedal non-anthropomorphic Robot AnyWalker

Ryadchikov, Igor; Sechenev, Semyon; Drobotenko, Michail; Svidlov, Alexander; Volkodav, Pavel; Vishnykov, R.; Sokolov, Dmitry; Nikulchev, Evgeny

doi:10.25103/jestr.115.15

Cited by 4 publications

(8 citation statements)

References 18 publications

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“…We say that a control law (locally) stabilizes the system (1) if under this control law the set 0 is (locally) attractive.…”

Section: Definitionmentioning

confidence: 99%

“…where the scalar signal y is measured, d is a constant bias, the functions β : R + → R and γ : R → R are known, the function γ is differentiable, the approximation γ (y−d) ≈ γ (y) − γ (y)d can be used for sufficiently small d, and the goal is to estimate the derivativeẏ. However, the research problem of this paper has been motivated by a particular mechatronic system; thus, to keep the paper concise and illustrative, we present the results for the specific system (1).…”

Section: B State-feedback Control Lawmentioning

confidence: 99%

“…The system (13) is similar to (11) and the finite-time stability of the equilibrium e r = 0 follows from Proposition 1 choosing 1 2 < α r < 1 and k r,1 , k r,2 such that the polynomial s 2 + k r,1 s + k r,2 is Hurwitz.…”

Section: B Reaction Wheel Velocity Observermentioning

confidence: 99%

“…The research problem of this paper is motivated by the walking robot we are currently developing [1]. The robot uses an auxiliary non-anthropomorphic dynamic stabilization system that consists of two reaction wheels inside the robot's body ( Figure 1).…”

Section: Introductionmentioning

confidence: 99%

“…However, it should be noted that pendulum stabilization algorithms The associate editor coordinating the review of this manuscript and approving it for publication was Gaolin Wang. AnyWalker robot uses reaction wheels (shown in red) as an auxiliary stabilization system, see [1].…”

Section: Introductionmentioning

confidence: 99%

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Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems

et al. 2020

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Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we consider the bias propagation problem for a homogeneous nonlinear model-based differentiator applied to a reaction wheel pendulum with a biased position sensor. We show that the bias propagates through the velocity observer and compromises the vertical stabilization. To cancel the impact of the bias, we propose to augment the differentiator with a reduced-order bias observer. Local asymptotic stability of the augmented nonlinear observer is shown, where the observer gain can be tuned using matrix inequalities. Experimental results illustrate the applicability of the proposed solution. INDEX TERMS Sensor bias, velocity observer, homogeneous differentiator, inverted pendulum.

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“…We say that a control law (locally) stabilizes the system (1) if under this control law the set 0 is (locally) attractive.…”

Section: Definitionmentioning

confidence: 99%

Section: B State-feedback Control Lawmentioning

confidence: 99%

Section: B Reaction Wheel Velocity Observermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems

et al. 2020

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Differentiator-based velocity observer with sensor bias estimation: an inverted pendulum case study

et al. 2019

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Dipo: a miniaturized hopping robot via lightweight and compact actuator design for power amplification

et al. 2023

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Kangaroo rats are well known as representative hoppers in small-scale animals. Especially kangaroo rats show rapid movement when a predator approaches. If this amazing motion can be applied to small-scale robots, they will be able to traverse lands at high speed while overcoming size limitations. To take advantage of hopping locomotion, in this paper, we present a lightweight and small-scale clutch-based hopping robot called Dipo. To make this possible, a compact power amplifying actuation system has been developed using a power spring and an active clutch. The power spring is possible to take out and use the accumulated energy little by little whenever the robot starts to hop. Moreover, the power spring needs low torque to charge the elastic energy, and a only tiny space is required to install. The active clutch controls the motion of hopping legs by adjusting the timing of energy release and storage. Thanks to these design strategies, the robot weighs 45.07g, has the height of 5 cm in the stance phase, and achieves the maximum hopping height of 54.9 cm.

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Stabilization System of a Bipedal non-anthropomorphic Robot AnyWalker

Cited by 4 publications

References 18 publications

Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems

Bias Propagation and Estimation in Homogeneous Differentiators for a Class of Mechanical Systems

Differentiator-based velocity observer with sensor bias estimation: an inverted pendulum case study

Dipo: a miniaturized hopping robot via lightweight and compact actuator design for power amplification

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