Simulation of an interlocking hydraulic direct-drive system for a biped walking robot

Biped robots with serial links driven by an electric motor experience problems because the motor and transmission are installed in each joint, causing the legs to become very heavy. Previous solutions involved robots using servo valves, a type of highly responsive proportional valve. However, high supply pressure is necessary to realize high responsiveness and the resulting energy losses are large. To address this problem, we proposed a hydraulic direct-drive system in which the pump controls the cylinder meter-in flow, while a proportional valve controls the meter-out flow. Furthermore, our hydraulic interlocking drive system connects two hydraulic direct-drive systems for biped humanoid robots and concentrates the pump output on one side cylinder. The meter-in flow rate of the other side cylinder is controlled by the meter-out flow rate of the cylinder on which the pump is concentrated. A comparison of the walking simulation performance with that of the conventional independent system shows that our proposed system reduces the motor output power by 24.3%. These results prove the feasibility of constructing a two-legged robot without having to incorporate highly responsive servo valves

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Contemporary Robotics

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

Volume 1 – Symposium

We are pleased to present the conference proceedings for the 12th edition of the International Fluid Power Conference (IFK). The IFK is one of the world’s most significant scientific conferences on fluid power control technology and systems. It offers a common platform for the presentation and discussion of trends and innovations to manufacturers, users and scientists. The Chair of Fluid-Mechatronic Systems at the TU Dresden is organizing and hosting the IFK for the sixth time. Supporting hosts are the Fluid Power Association of the German Engineering Federation (VDMA), Dresdner Verein zur Förderung der Fluidtechnik e. V. (DVF) and GWT-TUD GmbH. The organization and the conference location alternates every two years between the Chair of Fluid-Mechatronic Systems in Dresden and the Institute for Fluid Power Drives and Systems in Aachen. The symposium on the first day is dedicated to presentations focused on methodology and fundamental research. The two following conference days offer a wide variety of application and technology orientated papers about the latest state of the art in fluid power. It is this combination that makes the IFK a unique and excellent forum for the exchange of academic research and industrial application experience. A simultaneously ongoing exhibition offers the possibility to get product information and to have individual talks with manufacturers. The theme of the 12th IFK is “Fluid Power – Future Technology”, covering topics that enable the development of 5G-ready, cost-efficient and demand-driven structures, as well as individual decentralized drives. Another topic is the real-time data exchange that allows the application of numerous predictive maintenance strategies, which will significantly increase the availability of fluid power systems and their elements and ensure their improved lifetime performance. We create an atmosphere for casual exchange by offering a vast frame and cultural program. This includes a get-together, a conference banquet, laboratory festivities and some physical activities such as jogging in Dresden’s old town.:Group A: Materials Group B: System design & integration Group C: Novel system solutions Group D: Additive manufacturing Group E: Components Group F: Intelligent control Group G: Fluids Group H | K: Pumps Group I | L: Mobile applications Group J: Fundamental

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

磁性流体を用いたバックドライブ可能な油圧アクチュエータの開発

早大学位記番号:新7478早稲田大

Rapid acceleration of legged robots: a pneumatic approach

For robotics to be useful to the public in a multifaceted manner, they need to be both legged and agile. The legged constraint arises as many environments and systems in our world are tailored to ablebodied adults. Therefore, a practically useful robot would need to have the same morphology for maximum efficacy. For robots to be useful in these environments, they need to perform at least as well as humans, therefore presenting the agility constraint. These requirements have been out of reach of the field until recently. The aim of this thesis was to design a planar monopod robot for rapid acceleration manoeuvres, that could later be expanded to a planar quadruped robot. This was achieved through a hybrid electric and pneumatic actuation system. To this end, modelling schemes for the pneumatic cylinder were investigated and verified with physical experiments. This was done to develop accurate models of the pneumatic system that were later used in simulation to aid in the design of the platform. The design of the platform was aided through the use of Simulink to conduct iterative testing and multivariate evaluations using Monte Carlo simulation methods. Once the topology of the leg was set, the detail design was conducted in Solidworks and validated with its built in simulation functions. In addition to the mechanical design of the platform, a specialist boom was designed. The design needed to compensate for the forces the robot exerts on the boom as well as the material constraints on the boom. This resulted in the development of a cable-stayed, four bar mechanism boom system. An embedded operating system was created to control the robot and take in and fuse sensor inputs. This was run using multiple sensors, sub-controllers and microcontrollers. Sensor fusion for the system was done using a Kalman Filter to improve readings and estimate unmeasured states of the robot. This Kalman Filter took LiDAR and accelerometer readings as inputs to the system to produce a subcentimetre accurate position measure for the system. Finally, the completed platform was validated using fixed-body forward hopping tests. These tests showed a significant degree of similarity to the simulated results and therefore validated the design process

High-performance series elastic actuation

textMobile legged robots have the potential to restructure many aspects of our lives in the near future. Whether for applications in household care, entertainment, or disaster response, these systems depend on high-performance actuators to improve their basic capabilities. The work presented here focuses on developing new high-performance actuators, specifically series elastic actuators, to address this need. We adopt a system-wide optimization approach, dealing with factors which influence performance at the levels of mechanical design, electrical system design, and control. Using this approach and based on a set of performance metrics, we produce an actuator, the UT-SEA, which achieves leading empirical results in terms of power-to-weight, force control, size, and system efficiency. We also develop general high-performance control techniques for both force- and position-controlled actuators, some of which were adopted for use on NASA-JSC's Valkyrie Humanoid robot and were used during DARPA's DRC Trials 2013 robotics competition.Electrical and Computer Engineerin

Advances in Mechanical Systems Dynamics 2020

The fundamentals of mechanical system dynamics were established before the beginning of the industrial era. The 18th century was a very important time for science and was characterized by the development of classical mechanics. This development progressed in the 19th century, and new, important applications related to industrialization were found and studied. The development of computers in the 20th century revolutionized mechanical system dynamics owing to the development of numerical simulation. We are now in the presence of the fourth industrial revolution. Mechanical systems are increasingly integrated with electrical, fluidic, and electronic systems, and the industrial environment has become characterized by the cyber-physical systems of industry 4.0. Within this framework, the status-of-the-art has become represented by integrated mechanical systems and supported by accurate dynamic models able to predict their dynamic behavior. Therefore, mechanical systems dynamics will play a central role in forthcoming years. This Special Issue aims to disseminate the latest research findings and ideas in the field of mechanical systems dynamics, with particular emphasis on novel trends and applications