The stability performances improvement through kinematic and dynamic modeling of the hopping robots

Abstract

The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position.

The walking robots critical position of the kinematics or dynamic systems applied on the environment model

“…The models of kinematics or dynamic system in the general case of systems that depend on parameters assure, by its properties, the mathematical characterization of the environment. Any system is expressed in terms of relevant parameters as geometrical parameters, physical parameters (in particular mechanical parameters), possible chemical, biological, economical, etc, [1][2][3][4][5][6][10][11][12]. The important property of the dynamic system evolution models that approach the phenomenon from the environment is property of separation between stable and unstable regions from the free parameters domain of the system.…”

Strategies for Recovery and Maintain of A Biped Walking Robot Balance

“…ZMP is a point where the horizontal moments are zero. In conclusion, if point P is inside the surface defined by BoS, all moments and forces exerted by the body on the ankle are compensated, which necessarily leads to a dynamic balance [1,2,[10][11][12].…”