Vertical Movement of Resonance Hopping Robot with Electric Drive and Simple Control System

In the paper vertical movements of resonance hopping robot with one leg and electric drive are considered. Special construction of hopping robot with compensation of losses during flight of the robot allows to employ a relatively simple control system as well as to get a stable regime of its operation. The designed robot has self-properties to maintain a specified height of jumping even with simple control system. Results of dynamical calculations, simulations and experimental testing are presented.In the paper vertical movements of resonance hopping robot with one leg and electric drive are considered. Special construction of hopping robot with compensation of losses during flight of the robot allows to employ a relatively simple control system as well as to get a stable regime of its operation. The designed robot has self-properties to maintain a specified height of jumping even with simple control system. Results of dynamical calculations, simulations and experimental testing are presented

Dual Drive for Vertical Movement of Resonance Hopping Robot

In the present study vertical movements of resonance hopping robot of special construction with one leg and dual drive are considered. The construction of hopping robot with compensation of losses during flight of the robot allows employing a simple control system and having a stable regime of its operation so that the robot has self-property to maintain a specified height of jumping. The data on dynamical calculation, simulations and experimental testing are discussed. The solution of the problem of actuator’s optimum parameters choice (including variable transmission ratio) for the considered robot is presented.В настоящей работе рассматриваются вертикальные движения резонансного прыгающего робота специальной конструкции с одной ногой и приводом с изменяемыми свойствами. Конструкция робота предусматривает, что компенсация потерь энергии производится в фазе полета. Это дает возможность использовать простую систему управления и позволяет стабилизировать рабочий режим за счет того, что робот имеет естественную самостабилизацию заданной высоты прыжков. Обсуждаются результаты расчетов, моделирования и экспериментов. Для рассматриваемого робота представлено решение задачи выбора оптимальных параметров, включая параметры привода с изменяемыми свойствами

Approximating the Stance Map of a 2-DOF Monoped Runner

We report in this paper a relatively simple means of generating closed-form approximants to the return map associated with a family of nonintegrable Hamiltonian systems. These systems arise in consideration of legged locomotion by animals and robots. The approximations proceed through the iterated application of the mean value theorem for integral operators applied to a nonintegrable perturbation of the system of interest. Both the accuracy of these approximants and their algebraic intractability grow in a relatively controlled manner.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/42417/1/332-10-5-533_00100533.pd

Running synthesis and control for monopods and bipeds with articulated

Bibliography: p. 179-20

Modular Hopping and Running via Parallel Composition

Though multi-functional robot hardware has been created, the complexity in its functionality has been constrained by a lack of algorithms that appropriately manage flexible and autonomous reconfiguration of interconnections to physical and behavioral components. Raibert pioneered a paradigm for the synthesis of planar hopping using a composition of ``parts\u27\u27: controlled vertical hopping, controlled forward speed, and controlled body attitude. Such reduced degree-of-freedom compositions also seem to appear in running animals across several orders of magnitude of scale. Dynamical systems theory can offer a formal representation of such reductions in terms of ``anchored templates,\u27\u27 respecting which Raibert\u27s empirical synthesis (and the animals\u27 empirical performance) can be posed as a parallel composition. However, the orthodox notion (attracting invariant submanifold with restriction dynamics conjugate to a template system) has only been formally synthesized in a few isolated instances in engineering (juggling, brachiating, hexapedal running robots, etc.) and formally observed in biology only in similarly limited contexts. In order to bring Raibert\u27s 1980\u27s work into the 21st century and out of the laboratory, we design a new family of one-, two-, and four-legged robots with high power density, transparency, and control bandwidth. On these platforms, we demonstrate a growing collection of $\{$body, behavior$\}$ pairs that successfully embody dynamical running / hopping ``gaits\u27\u27 specified using compositions of a few templates, with few parameters and a great deal of empirical robustness. We aim for and report substantial advances toward a formal notion of parallel composition---embodied behaviors that are correct by design even in the presence of nefarious coupling and perturbation---using a new analytical tool (hybrid dynamical averaging). With ideas of verifiable behavioral modularity and a firm understanding of the hardware tools required to implement them, we are closer to identifying the components required to flexibly program the exchange of work between machines and their environment. Knowing how to combine and sequence stable basins to solve arbitrarily complex tasks will result in improved foundations for robotics as it goes from ad-hoc practice to science (with predictive theories) in the next few decades

Design, Modeling and Control of a Hopping Robot

We report progress towards model based, dynamically stable legged locomotion with energy efficient, electrically actuated robots. We present the mechanical design of a prismatic robot leg which is optimized for electrical actuation. A dynamical model of the robot and the actuator as well as the interaction with ground is derived and validated by demonstrating close correspondence between simulations and experiments. A new continuous, and exactly implementable open loop torque control algorithm is introduced which stabilizes a limit cycle of the underlying fourth order intermittent robot/actuator/environment dynamics. 1 Introduction Dynamically stable legged robots promise to be the mobile platform of choice compared to wheeled systems when it comes to mobility, versatility, speed, in all but the special cases where a continuous and smooth path of support is provided. However, before legged robots become practical, strong stability properties and autonomous operation are essential. In ..