Vertical motion control of a one legged hopping robot by using Central Pattern Generator (CPG)

Azahar, Arman Hadi; Horng, Chong Shin; Kassim, Anuar Mohamed

doi:10.1109/isiea.2013.6738958

Cited by 4 publications

(3 citation statements)

References 6 publications

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“…The proposed method employs a gyroscope to measure the angular velocity of the torso and produce a stable gait consecutively. Azahar et al 26 integrated a central pattern generator along with proportional-integral (PI) and PID controllers to obtain a stabilizing control input of a one-legged hopper.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Komarsofla¹,

Yazdi²,

Eghtesad³

2021

Robotica

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SUMMARY In this article, a novel mechanism for planar one-legged hopping robots is proposed. The robot consists of a flat foot which is pinned to the leg and a reciprocating mass which is connected to the leg via a prismatic joint. The proposed mechanism performs the hopping by transferring linear momentum between the reciprocating mass and its main body. The nonlinear equations of the motion of the robot are derived using the Euler–Lagrange equations. To accomplish a stable jump, appropriate trajectories have been planned. To guarantee a stable response for this nonlinear system, a sliding-mode controller is implemented. The performance of the hopping robot is investigated through numerical simulations. The results confirm the stability of the hopping robot through the jump cycle on a flat surface and in climbing up and down ramp and stairs.

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Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Komarsofla¹,

Yazdi²,

Eghtesad³

2021

Robotica

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“…In addition, A PID-based temperature control device for electric kettle was designed to produce heat and best temperature at desired level temperature for different drinks preparation [14]. Commonly, a few of controllers are design to control height, displacement, velocity and rotation angle of a mechanical product [15][16]. Hence, Nair and Mohan [17] using PID controller to control constant temperature according to desired value.…”

Section: Introductionmentioning

confidence: 99%

Development and Evaluation of Stove Using Peltier Effect: Connection and Temperature Control

Azahar

Mohamad

Harun

et al. 2020

ARFMTS

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Conventionally, a stove had been used to cook and boil. The stove commonly used gasses and charcoals as the fuel element to contribute the heat for cooking. However, the gasses used such as Liquefied Petroleum Gas (LPG) is an extremely flammable gas that commonly contribute to fire while charcoals contribute largely of carbon after the charcoal burning process during cooking. In addition, these stoves are also difficult to control the flame. Therefore, a portable stove operating using Peltier effect is developed and focuses on the development of a portable stove that operates by using a Peltier to provide heat and evaluate the heating control by PID Controller. The stove is developed to evaluate the performance of Peltier Effect in order to replace the LP as a heating element. The minimum operating voltage for the Peltier Effect heating system is specify to be 10.1V, and the maximum is 12.6V, therefore if the supply is lower than the minimum threshold the Peltier will auto shut down. The number of Peltier module and type of Peltier module connection are varied to evaluate the heating performance and power consumption. The controller algorithm, Proportional Integral Derivative (PID) controller parameters are optimized to control the temperature of heating or cooling when the temperature is being adjusted to its set point.

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“…CPG also had been used for moving control of multi-legged hopping robot [9]. Previously, the effectiveness of standalone CPG result in [10] and integration Proportional-Integral (PI) controller with CPG result for one legged hopping robot have been presented in [11] containing the set of CPG parameters by using manual tuning. Due to the fundamental of simulated CPG model fact, there are few parameters need to be set and it is a very complex process in order to get an optimized CPG behavior by using manual tuning method.…”

Section: Introductionmentioning

confidence: 99%

Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA)

Azahar¹,

Horng²,

Kassim³

et al. 2018

IJET

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This paper presents the optimization process of Central Pattern Generator (CPG) controller for one legged hopping robot by using Genetic Algorithm (GA). To control the one legged hopping robot, a CPG controller is designed and integrated with a conventional Proportional-Integral (PI) controller. Conventionally, the CPG parameters are tuned manually. But by using this method, the parameters produced are not exactly the optimum parameters for the CPG. Therefore, a computational stochastic optimization method; GA is designed to optimize the CPG controller parameters. The GA is designed based on minimizing the error produced towards achieving the reference height. The re-sponse of the one legged hopping robot is compared and the results of the error towards reference height are analyzed.

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Vertical motion control of a one legged hopping robot by using Central Pattern Generator (CPG)

Cited by 4 publications

References 6 publications

Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Development and Evaluation of Stove Using Peltier Effect: Connection and Temperature Control

Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA)

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