Tool-supported mechatronic system design

Hyde, Richard; Wendlandt, J.M.

doi:10.1109/iecon.2008.4758205

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…However, it is worth noting that successful designs of quadruped robots often involve the combination of the following methods: (1) biomimetic inspiration: developing prototypes based on the morphology, joint trajectories, and foot force research of humans or animals, such as cheetahs [ 13 ], kangaroos [ 14 ], etc. (2) Simulation-driven design based on simplified [ 15 ] or complete models [ 16 ]. (3) Leveraging early robot prototypes and iterative development experience, such as HyQ2Max [ 17 ], cheetah series [ 6 , 8 , 11 ], and the Boston Dynamics series [ 7 ].…”

Section: Related Researchmentioning

confidence: 99%

“…The second phase of control-in-the-loop design is software-in-the-loop simulation, facilitating high-precision simulation-driven methodology [ 15 , 16 , 33 , 34 ] for the design. This phase involves evaluating and fine-tuning the performance of the control algorithms, improving structural designs, and obtaining updated and more reliable joint velocity-load profile curves to guide the iterative optimization of each subsystem.…”

Section: Design Philosophy For High-performance Leg Systemsmentioning

confidence: 99%

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Task-Oriented Systematic Design of a Heavy-Duty Electrically Actuated Quadruped Robot with High Performance

Liu

Wang

Qian

et al. 2023

Sensors

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Recent technological progress is opening up practical applications for quadruped robots. In this context, comprehensive performance demands, including speed, payload, robustness, terrain adaptability, endurance, and techno-economics, are increasing. However, design conflicts inevitably exist among these performance indicators, highlighting design challenges, especially for a heavy-duty, electrically actuated quadruped robots, which are strongly constrained by motor torque density and battery energy density. Starting from task-specific holistic system thinking, in this paper, we present a novel task-oriented approach to the design of such kind of robots, incorporating hierarchical optimization and a control-in-the-loop design, while following a structured design path that effectively exploits the strengths of both heuristic and computational designs. Guided by these philosophies, we utilize heuristic design to obtain the approximate initial form of the prototype and propose a key task-oriented actuator joint configuration, utilizing commercially available components. Subsequently, we build a step-wise analytical models considering trajectory optimization and motor heat constraints for optimization of leg length and joint match parameters to achieve a compact performance requirement envelope and minimize redundancy in the construction of task-specific components. Furthermore, we construct a holistic simulation platform with a module control algorithm for typical scenarios to evaluate subsystem results and adjust design parameters iteratively, balancing conflicts and eventually achieving a reliable design specification for detailed subsystem design. Based on these strategies, we develop a heavy-duty electric prototype achieving a maximum speed of 2 m/s in trotting gait with a load weighting over 160 kg and enduring a period of 2 h. The experiment upon the prototype verifies the efficiency of the proposed approach.

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Section: Related Researchmentioning

confidence: 99%

Section: Design Philosophy For High-performance Leg Systemsmentioning

confidence: 99%

Task-Oriented Systematic Design of a Heavy-Duty Electrically Actuated Quadruped Robot with High Performance

Liu

Wang

Qian

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…A detailed simulation is a good tool to evaluate and support fundamental design choices, study interaction between different parts of a complicated mechanical structure and environment, and further plan reference trajectories and tune controllers [11]. Since a mechatronic system is an interaction between mechanics, electronics, and information, simulation should be performed with respect to all domains.…”

Section: A Model Description and Simulation Scenariosmentioning

confidence: 99%

Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg

Borisov

Kulagin

Larkina

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The biomimetic approach in robotics is promising: nature has found many good solutions through millions of years of evolution. However, creating a design that enables fast and energy-efficient locomotion remains a major challenge. This paper focuses on the development of a full leg mechanism for a fast and energy-efficient 4-legged robot inspired by a cheetah morphology. In particular, we analyze how the allocation of flexible elements and their stiffness affects the cost of transport and peak power characteristics for vertical jumps and a galloping motion. The study includes the femur and full leg mechanism's locomotory behavior simulation, capturing its interaction with the ground.

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Programmable coupled oscillators for synchronized locomotion

et al. 2019

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The striking similarity between biological locomotion gaits and the evolution of phase patterns in coupled oscillatory network can be traced to the role of central pattern generator located in the spinal cord. Bio-inspired robotics aim at harnessing this control approach for generation of rhythmic patterns for synchronized limb movement. Here, we utilize the phenomenon of synchronization and emergent spatiotemporal pattern from the interaction among coupled oscillators to generate a range of locomotion gait patterns. We experimentally demonstrate a central pattern generator network using capacitively coupled Vanadium Dioxide nano-oscillators. The coupled oscillators exhibit stable limit-cycle oscillations and tunable natural frequencies for real-time programmability of phase-pattern. The ultra-compact 1 Transistor-1 Resistor implementation of oscillator and bidirectional capacitive coupling allow small footprint area and low operating power. Compared to biomimetic CMOS based neuron and synapse models, our design simplifies on-chip implementation and real-time tunability by reducing the number of control parameters.

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Tool-supported mechatronic system design

Cited by 4 publications

References 9 publications

Task-Oriented Systematic Design of a Heavy-Duty Electrically Actuated Quadruped Robot with High Performance

Task-Oriented Systematic Design of a Heavy-Duty Electrically Actuated Quadruped Robot with High Performance

Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg

Programmable coupled oscillators for synchronized locomotion

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