In this paper, the issue of control of impact forces generated during the interaction between the hopping ro-bot toe and the ground while landing has been considered. The force thus generated can damage the robot alto...In this paper, the issue of control of impact forces generated during the interaction between the hopping ro-bot toe and the ground while landing has been considered. The force thus generated can damage the robot altogether. With the objective to control these impact forces, impedance control strategy has been applied to the hopping robot system. The dynamics pertaining to the impact between robot toe and ground has been modeled as in case of a ball bouncing on the ground. Bond Graph theory has been used for the modeling of the hopping robot system. Simulation results show that impact forces generated during the landing has been controlled to a specified limiting value. This model and the corresponding analysis can be further extended for understanding the dynamics involved in continuous hopping of robot with constant height and velocity control.展开更多
A novel miniature pressure regulator is fabricated and studied. The regulator can easily be integrated into portable mechatronics or miniature robotic applications because of its lightweight and compact size. An espec...A novel miniature pressure regulator is fabricated and studied. The regulator can easily be integrated into portable mechatronics or miniature robotic applications because of its lightweight and compact size. An especial poppet is designed to minimize its size and to withstand high-pressure. The pressure regulator is designed for a hopping robot which is powered by a combustion system. The hopping robot has great moving capacities such as jumping over big obstacles, wails and dit- ches. The regulator helps the hopping robot to decrease size and weight, and to sustain high pres- sure of oxygen and fuel tank. It will maintain constant output pressure to obtain suitable proportion of oxygen and fuel in the combustion cylinder. Dynamic simulation of the miniature pneumatic pres- sure regulator is performed. Experiments on prototype of miniature pneumatic pressure regulator are also carried out to validate the performance and satisfied performance is obtained.展开更多
For quadruped robots with springy legs,a successful jump usually requires both suitable elastic parts and well-designed control algorithms.However,these two problems are mutually restricted and hard to solve at the sa...For quadruped robots with springy legs,a successful jump usually requires both suitable elastic parts and well-designed control algorithms.However,these two problems are mutually restricted and hard to solve at the same time.In this study,we attempt to solve the problem of controller design with the help of a robot without any elastic mounted parts,in which the untethered robot is made to jump on a trampoline.The differences between jumping on hard surfaces with springy legs and jumping on springy surfaces with rigid legs are briefly discussed.An intuitive control law is proposed to balance foot contact forces;in this manner,excessive pitch oscillation during hopping or bounding can be avoided.Hopping height is controlled by tuning the time delay of the leg stretch.Together with other motion generators based on kinematic law,the robot can perform translational and rotational movements while hopping or bounding on the trampoline.Experiments are conducted to validate the effectiveness of the proposed control framework.展开更多
文摘In this paper, the issue of control of impact forces generated during the interaction between the hopping ro-bot toe and the ground while landing has been considered. The force thus generated can damage the robot altogether. With the objective to control these impact forces, impedance control strategy has been applied to the hopping robot system. The dynamics pertaining to the impact between robot toe and ground has been modeled as in case of a ball bouncing on the ground. Bond Graph theory has been used for the modeling of the hopping robot system. Simulation results show that impact forces generated during the landing has been controlled to a specified limiting value. This model and the corresponding analysis can be further extended for understanding the dynamics involved in continuous hopping of robot with constant height and velocity control.
文摘A novel miniature pressure regulator is fabricated and studied. The regulator can easily be integrated into portable mechatronics or miniature robotic applications because of its lightweight and compact size. An especial poppet is designed to minimize its size and to withstand high-pressure. The pressure regulator is designed for a hopping robot which is powered by a combustion system. The hopping robot has great moving capacities such as jumping over big obstacles, wails and dit- ches. The regulator helps the hopping robot to decrease size and weight, and to sustain high pres- sure of oxygen and fuel tank. It will maintain constant output pressure to obtain suitable proportion of oxygen and fuel in the combustion cylinder. Dynamic simulation of the miniature pneumatic pres- sure regulator is performed. Experiments on prototype of miniature pneumatic pressure regulator are also carried out to validate the performance and satisfied performance is obtained.
基金Financial support was provided by the Zhejiang Provincial Natural Science Foundation(Grant No.Y18F030012)the Science and Technology Project of Zhejiang Province(Grant No.2019C01043)+1 种基金the National Natural Science Foundation of China(Grant No.61836015)the State Key Laboratory of Industrial Control Technology(ICT1807)。
文摘For quadruped robots with springy legs,a successful jump usually requires both suitable elastic parts and well-designed control algorithms.However,these two problems are mutually restricted and hard to solve at the same time.In this study,we attempt to solve the problem of controller design with the help of a robot without any elastic mounted parts,in which the untethered robot is made to jump on a trampoline.The differences between jumping on hard surfaces with springy legs and jumping on springy surfaces with rigid legs are briefly discussed.An intuitive control law is proposed to balance foot contact forces;in this manner,excessive pitch oscillation during hopping or bounding can be avoided.Hopping height is controlled by tuning the time delay of the leg stretch.Together with other motion generators based on kinematic law,the robot can perform translational and rotational movements while hopping or bounding on the trampoline.Experiments are conducted to validate the effectiveness of the proposed control framework.
