Vehicle Simulation System: Controls and Virtual-reality-based Dynamics Simulation

Kljuno, Elvedin; Williams, Robert L.

doi:10.1007/s10846-008-9204-y

Cited by 25 publications

(8 citation statements)

References 9 publications

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“…actuation in general robotics [9] show that the main feature, among other interesting features, of the cable actuation is the possibility to achieve relatively high accelerations, due to the reduced mass of the most kinetically-active segments of the robots.…”

Section: Imece2011-63534mentioning

confidence: 99%

A Biomimetic Elastic Cable Driven Quadruped Robot: The RoboCat

Kljuno

Zhu

Williams

et al. 2011

Volume 2: Biomedical and Biotechnology Engineering; Nanoengineering for Medicine and Biology

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State of the art legged robots, such as the Honda’s series of bipedal robots ending in the latest advanced walking robot ASIMO, and the series of bipedal robots of Waseda University including the latest advanced robot WABIAN, employ joint-mount motors, which simplifies the analysis/design and traces the route for an effective control system, but results in legs that are heavy and bulky. Cable-driven robots overcome this shortcoming by allowing the motors to be mounted on or near the torso, thereby reducing the weight and inertia of the legs, resulting in lower overall weight and power consumption. To facilitate analysis and design, typical cable-driven robots use non-stretchable cables, which require at least n+1 motors for an n Degree-of-Freedom (DoF) joint. Therefore, for a robot with N joints, at least N additional motors are needed comparing to joint-mount motor drives. Moreover, the drive train of both joint-mount and cable-driven designs are rigid, which cannot effectively absorb ground impact shocks nor transfer potential energy to kinetic energy and vice versa when the robot is in motion, as biologic animals do. In this paper we present the design and test of a cat-size quadruped robot called RoboCat, which employs stretchable elastic cable-driven joints as inspired by biological quadruped animals. Although it complicates kinematics and dynamics analysis and design, the elastic cables allow n motors to be used for an n-DoF joint, thereby eliminating N motors for a robot with N joints comparing to non-stretchable cables, further realizing the weight and power savings of the cable driven design. Moreover, the elastic cable driven joints not only effectively absorb ground contact shock, but also effectively transfer potential and kinetic energy during walking or running, thereby improving the robot motion performance and energy efficiency. In the paper we will discuss the kinematics and dynamics analysis of elastic cable driven joints, implementation of elastic cable-driven joints on the Ohio University RoboCat, and control.

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Section: Imece2011-63534mentioning

confidence: 99%

A Biomimetic Elastic Cable Driven Quadruped Robot: The RoboCat

Kljuno

Zhu

Williams

et al. 2011

Volume 2: Biomedical and Biotechnology Engineering; Nanoengineering for Medicine and Biology

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“…On the other hand, VR offers further opportunities because it allows the creation of artificial responsive environments in which users are completely immersed and where they can manipulate virtual objects and obtain feedback in real time (Brooks, 1999). This has given life to dozens of applications in the fields of vehicle simulation (Kljuno and Williams, 2008), training (González et al, 2017) and healthcare (Moline, 1997). Even if affected by several limitations and poor dissemination due to technical difficulties a https://orcid.org/0000-0002-1257-5878 b https://orcid.org/0000-0001-8435-8373 c https://orcid.org/0000-0002-8251-2231 d https://orcid.org/0000- 0003-1863-4178 or high costs, AR and VR applications are gaining ground in the fields of architecture, engineering and construction (Chi et al, 2013) as well as trough gamebased approaches (Dinis et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Developing Music Harmony Awareness in Young Students through an Augmented Reality Approach

Avanzini

Baratè

Cottini

et al. 2020

Proceedings of the 4th International Conference on Computer-Human Interaction Research and Applications

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“…In recent years, cable-driven parallel robots (CDPRs) have attracted lots of attentions. They have been widely used in huge telescope [1], rehabilitation [2], live sporting broadcasting [3], disaster rescue [4], virtual reality [5], automatic handling [6], pick-and-place [7][8] large 3D printing [9] and etc. Compared with traditional parallel robots, CDPRs use flexible cables to drive platforms, which makes them have the characteristics of small inertia, large workspace, fast speed and acceleration, strong load capacity, good flexibility and low cost [10][11][12][13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

Yuan¹,

An²,

Zhang³

et al. 2020

Preprint

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Cable-driven parallel robots (CDPRs) have the characteristics of reconfigurability, which endows CDPRs with flexible workspace, freely configurable degrees of freedom and various configurations, greatly expanding their range of applications. Modular design provides great convenience and feasibility for the realization of reconfiguration, which is a key issue of reconfiguration research. However, most existing CDPRs have problems of low modularity and low system integration, which brings inconvenience to the realization of reconfiguration. In this paper, a highly integrated and high precision cable-driving module is designed, which can accurately control the length and tension of the cable. In addition, experimental verification is performed. The single-module experiment shows that the module has good ability for cable length and cable tension control. The cable length control error is less than 0.2mm, and the cable tension control error is less than 0.8N. Furthermore, based on the proposed module, a CDPR with 8 cables and 6 degrees of freedom is constructed rapidly. The open-loop tracking error of the robot is measured by laser tracker. Results show that the tracking error is less than 4.5mm and the Root-Mean-Square-Error (RMSE) is 2.1mm. Besides, the compliance control experiment of the robot shows that the tracking error in impedance control mode is less than 2mm, and the RMSE is 0.95mm, and the drag force in teaching mode is less than 2.5N, which demonstrates good follow-up performance. The proposed compact cable-driving module with high precision could be useful for the design and rapid construction of reconfigurable CDPRs.

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Vehicle Simulation System: Controls and Virtual-reality-based Dynamics Simulation

Cited by 25 publications

References 9 publications

A Biomimetic Elastic Cable Driven Quadruped Robot: The RoboCat

A Biomimetic Elastic Cable Driven Quadruped Robot: The RoboCat

Developing Music Harmony Awareness in Young Students through an Augmented Reality Approach

Design and Experiment of a Compact Cable-Driving Module for Reconfigurable Cable-Driven Parallel Robots

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