211 research outputs found
Actuation Design Methodology for Haptic Interfaces and Rehabilitation Systems
This paper introduces a methodology and a software
framework intended to optimize and speed up the design process
of a haptic interface or a rehabilitation system. Starting from
an initial mechanical design the procedure allows to export the
kinematic and dynamic properties of the robotic system in a
simulation environment. The software receives as additional input
the Cartesian or joints trajectories and generates as output the
required torques at the joints. From the recorded measurements
the program extracts the torque ranges necessary to choose a
suitable actuation system for the robot. The possibility to run
the simulation in batch modality allows also to define different
optimization techniques that may be used to reduce the overall
system weight or increase its payloa
Design methodology for haptic interfaces and rehabilitation systems
Designing the actuation system for a robot is a crucial step during the machine
development. This phase is even more critical if the robotic system is represented by a haptic interface
or a rehabilitation system that are meant to operate in near contact with the human body. Generally, the
design process takes into account a realistic model of the limb interacting with the interface [1,2] and
includes as set of simulations intended to study the coupled interface-limb system. The result of these
simulations allows fixing important requirements necessary to design the interface. Among them the
number of Degrees of Freedom (DOF), the joints type and configuration, and the links dimensions.
When the kinematic of the interface is ready a proper dynamic model [3] needs to be formalized and
computed. This is demanded to find out other important design elements like the optimal actuators
displacement and dimensioning
A combined B-Spline-Neural-Network and ARX Model for Online Identi cation of Nonlinear Dynamic Actuation Systems
This paper presents a block oriented nonlinear dynamic model suitable for
online identi cation.The model has the well known Hammerstein architecture
where as a novelty the nonlinear static part is represented by a B-spline
neural network (BSNN), and the linear static one is formalized by an auto
regressive exogenous model (ARX). The model is suitable as a feed-forward
control module in combination with a classical feedback controller to regulate
velocity and position of pneumatic and hydraulic actuation systems
which present non stationary nonlinear dynamics. The adaptation of both
the linear and nonlinear parts is taking place simultaneously on a patterby-
patter basis by applying a combination of error-driven learning rules and
the recursive least squares method. This allows to decrease the amount of
computation needed to identify the model's parameters and therefore makes
the technique suitable for real time applications. The model was tested with
a silver box benchmark and results show that the parameters are converging
to a stable value after 1500 samples, equivalent to 7.5s of running time.
The comparison with a pure ARX and BSNN model indicates a substantial
improvement in terms of the RMS error, while the comparison with alternative
non linear dynamic models like the NNOE and NNARX, having the
same number of parameters but greater computational complexity, shows
comparable performances
A combined B-Spline-Neural-Network and ARX Model for Online Identi cation of Nonlinear Dynamic Actuation Systems
This paper presents a block oriented nonlinear dynamic model suitable for
online identi cation.The model has the well known Hammerstein architecture
where as a novelty the nonlinear static part is represented by a B-spline
neural network (BSNN), and the linear static one is formalized by an auto
regressive exogenous model (ARX). The model is suitable as a feed-forward
control module in combination with a classical feedback controller to regulate
velocity and position of pneumatic and hydraulic actuation systems
which present non stationary nonlinear dynamics. The adaptation of both
the linear and nonlinear parts is taking place simultaneously on a patterby-
patter basis by applying a combination of error-driven learning rules and
the recursive least squares method. This allows to decrease the amount of
computation needed to identify the model's parameters and therefore makes
the technique suitable for real time applications. The model was tested with
a silver box benchmark and results show that the parameters are converging
to a stable value after 1500 samples, equivalent to 7.5s of running time.
The comparison with a pure ARX and BSNN model indicates a substantial
improvement in terms of the RMS error, while the comparison with alternative
non linear dynamic models like the NNOE and NNARX, having the
same number of parameters but greater computational complexity, shows
comparable performances
ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR
This paper focuses on the study and design of an anthropomorphical
light biped robot. The robot presents a
total of twelve degree of freedom that will permit it to
act a walk in a three dimensional space, right now tested
only in simulation. Each joint resemble the functionalities
of the human articulation and is moved by tendon
connected with actuator located in the robot’s pelvis. We
implemented and tested an innovative actuator that permits
to set the joint stiffness in real time maintaining a
simple position control paradigm. The controller is able
to estimate the external load measuring the spring deflection
and demonstrated to be particularly robust respect
to system uncertainties, such as inertia value changes.
Comparing the resulting control law with existing models
we found several similarities with the Equilibrium Point
Theory
New Joint Design to Create a More Natural and Efficient Biped
This paper presents a human-oriented approach to design the mechanical architecture and the joint controller for a biped robot. Starting from the analysis of the human lower limbs, we figured out which features of the human legs are fundamental for a correct walking motion, and can be adopted in the mechanical design of a humanoid robot. We focus here on the knee, designed as a compliant human-like knee instead of a classical pin-joint, and on the foot, characterised by the mobility and lightness of the human foot. We implemented an elastic actuator, with a simple position control paradigm that sets the joint stiffness in real time, and developed the basic controller. Results in simulation are discussed. In our approach the robot gains in adaptability and energetic efficiency, which are the most challenging issues for a biped robot
A Neuromorphic Motion Controller for a Biped Robot
Here we propose a neuromorphic control system for a
medium size humanoid robot under development in the
Robotics and Mechatronics Department at Nazarbayev University
and in cooperation with Politecnico di Milano
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