Landing Motion Control of Articulated Hopping Robot

This paper deals with the landing motion of an articulated legged robot. Humans use a peculiar crouching motion to land safely which can be characterized by body stiffness and damping. A stiffness controller formulation is used to realize this human behavior for the robot. Using this method, the landing motion is achieved with only the desired body stiffness and damping values, without desired COG(Center of Gravity) or joint paths. To achieve soft landing, variable body stiffness and damping values were optimized. PBOT, which has four links with flexible joints was used for validation of the landing controller. A body stiffness and damping controller was used as an outer landing control loop and a fast subsystem controller for flexible joints was used as an inner force control loop. Simulations and experimental results about the landing motion are presented to show the performance of the body stiffness and damping controller

Steady Crawl Gait Generation Algorithm for Quadruped Robots

The capability of stable walking on irregular terrain is the primary advantage of legged robots over wheeled mobile robots. However, the traditional foothold selection-based gait generation algorithms are not suitable at some points for blind robots which cannot obtain the exact terrain information. A velocity-based gait generation algorithm with real-time adaptation rules which are necessary for steady walking is Suggested. Particularly, we have developed a steady crawl gait with duty factor beta = 0.75. The main feature of the suggested algorithm is that it is not based on foothold selection and it call be used for the walking of blind robots oil more realistic irregular terrain. The adaptation rules are the translational velocity modification to satisfy the steady gait requirement and the swing period modification to avoid the kinematic limitation. The suggested gait generation algorithm has been implemented in a simple quadruped robot that has a total of eight actuated joints on the legs. Using PD controllers for each actuated joint for the trajectory following and the adaptation algorithm of gait parameters, the steady periodic crawl gait oil it-regular terrain has been demonstrated. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008

Computation of Gradient of Manipulability for Kinematically Redundant Manipulators including Dual Manipulator System

1

Accurate Multi-DOF Kinesthetic Haptic Display Using Instantaneous Restriction Space

1

Human Kinematic Factor for Haptic Manipulation: The Wrist to Thumb

1

On the Design Method of Haptic Interface Controller with Virtual Coupling

1