Bio-inspired Globally Convergent Gait Regulation for a Climbing Robot PDF Download
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Author: Salomon Joseph Trujillo
Publisher: Stanford University
ISBN:
Category :
Languages : en
Pages : 197
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Book Description
The priorities of a climbing legged robot are to maintain a grasp on its climbing surface and to climb efficiently against the force of gravity. Climbing robots are especially susceptible to thermal overload during normal operation, due to the need to oppose gravity and to frequently apply internal forces for clinging. These priorities guided us to develop optimal climbing behaviors under thermal constraints. These behaviors in turn profoundly constrain the choice of gait regulation methods. We propose a novel algorithm: "travel-based" gait regulation that varies foot detachment timing, effectively modifying stride length and frequency in order to maintain gait phasing, subject to kinematic and stability constraints. A core feature of the algorithm is "travel, " a new metric that plays a similar role to relative phasing. The method results in linear equations in terms of travel, leading to straightforward tests for local and global convergence when, for example, disturbances such as foot slippage cause departures from the nominal phasing. We form recurrence maps and use eigenvalue and singular value decomposition to examine local convergence of gaits. To examine global convergence, we implemented a computational geometry technique in high-order spaces. Our travel-based algorithm benefits from a compact code size and ease of implementation. We implemented the algorithm on the RiSE and Stickybot III robots as well as a virtual hexapod in a physics simulator. We demonstrated quickly converging gaits on all platforms as well as gait transitions on Stickybot III and the virtual hexapod.
Author: Salomon Joseph Trujillo
Publisher: Stanford University
ISBN:
Category :
Languages : en
Pages : 197
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Book Description
The priorities of a climbing legged robot are to maintain a grasp on its climbing surface and to climb efficiently against the force of gravity. Climbing robots are especially susceptible to thermal overload during normal operation, due to the need to oppose gravity and to frequently apply internal forces for clinging. These priorities guided us to develop optimal climbing behaviors under thermal constraints. These behaviors in turn profoundly constrain the choice of gait regulation methods. We propose a novel algorithm: "travel-based" gait regulation that varies foot detachment timing, effectively modifying stride length and frequency in order to maintain gait phasing, subject to kinematic and stability constraints. A core feature of the algorithm is "travel, " a new metric that plays a similar role to relative phasing. The method results in linear equations in terms of travel, leading to straightforward tests for local and global convergence when, for example, disturbances such as foot slippage cause departures from the nominal phasing. We form recurrence maps and use eigenvalue and singular value decomposition to examine local convergence of gaits. To examine global convergence, we implemented a computational geometry technique in high-order spaces. Our travel-based algorithm benefits from a compact code size and ease of implementation. We implemented the algorithm on the RiSE and Stickybot III robots as well as a virtual hexapod in a physics simulator. We demonstrated quickly converging gaits on all platforms as well as gait transitions on Stickybot III and the virtual hexapod.
Author: Toshio Fukuda
Publisher: MDPI
ISBN: 303897045X
Category : Technology & Engineering
Languages : en
Pages : 555
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Book Description
This book is a printed edition of the Special Issue "Bio-Inspired Robotics" that was published in Applied Sciences
Author: José L. Pons
Publisher: John Wiley & Sons
ISBN: 0470987650
Category : Technology & Engineering
Languages : en
Pages : 358
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Book Description
A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.
Author: Milton Hildebrand
Publisher: Belknap Press
ISBN: 9780674184374
Category :
Languages : en
Pages : 544
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Book Description
Author: Abul K. M. Azad
Publisher: World Scientific
ISBN: 9814415944
Category : Technology & Engineering
Languages : en
Pages : 904
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Book Description
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Author: Tin Lun Lam
Publisher: Springer Science & Business Media
ISBN: 3642283101
Category : Technology & Engineering
Languages : en
Pages : 178
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Book Description
Climbing robot is a challenging research topic that has gained much attention from researchers. Most of the robots reported in the literature are designed to climb on manmade structures, but seldom robots are designed for climbing natural environment such as trees. Trees and manmade structures are very different in nature. It brings different aspects of technical challenges to the robot design. In this book, you can find a collection of the cutting edge technologies in the field of tree-climbing robot and the ways that animals climb. It provides a valuable reference for robot designers to select appropriate climbing methods in designing tree-climbing robots for specific purposes. Based on the study, a novel bio-inspired tree-climbing robot with several breakthrough performances has been developed and presents in this book. It is capable of performing various actions that is impossible in the state-of-the-art tree-climbing robots, such as moving between trunk and branches. This book also proposes several approaches in autonomous tree-climbing, including the sensing methodology, cognition of the environment, path planning and motion planning on both known and unknown environment.
Author: Pablo González de Santos
Publisher: Springer Science & Business Media
ISBN: 1846283078
Category : Technology & Engineering
Languages : en
Pages : 272
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Book Description
Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.
Author: National Defense University
Publisher: NDU Press
ISBN: 1780390408
Category : History
Languages : en
Pages : 356
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Book Description
Despite the vital importance of the emerging area of biotechnology and its role in defense planning and policymaking, no definitive book has been written on the topic for the defense policymaker, the military student, and the private-sector bioscientist interested in the "emerging opportunities market" of national security. This edited volume is intended to help close this gap and provide the necessary backdrop for thinking strategically about biology in defense planning and policymaking. This volume is about applications of the biological sciences, here called "biologically inspired innovations," to the military. Rather than treating biology as a series of threats to be dealt with, such innovations generally approach the biological sciences as a set of opportunities for the military to gain strategic advantage over adversaries. These opportunities range from looking at everything from genes to brains, from enhancing human performance to creating renewable energy, from sensing the environment around us to harnessing its power.
Author: Gina Bertocci
Publisher: Frontiers Media SA
ISBN: 2889767817
Category : Science
Languages : en
Pages : 239
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Book Description
Author: R. McNeill Alexander
Publisher: Princeton University Press
ISBN: 1400849519
Category : Science
Languages : en
Pages : 385
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Book Description
How can geckoes walk on the ceiling and basilisk lizards run over water? What are the aerodynamic effects that enable small insects to fly? What are the relative merits of squids' jet-propelled swimming and fishes' tail-powered swimming? Why do horses change gait as they increase speed? What determines our own vertical leap? Recent technical advances have greatly increased researchers' ability to answer these questions with certainty and in detail. This text provides an up-to-date overview of how animals run, walk, jump, crawl, swim, soar, hover, and fly. Excluding only the tiny creatures that use cilia, it covers all animals that power their movements with muscle--from roundworms to whales, clams to elephants, and gnats to albatrosses. The introduction sets out the general rules governing all modes of animal locomotion and considers the performance criteria--such as speed, endurance, and economy--that have shaped their selection. It introduces energetics and optimality as basic principles. The text then tackles each of the major modes by which animals move on land, in water, and through air. It explains the mechanisms involved and the physical and biological forces shaping those mechanisms, paying particular attention to energy costs. Focusing on general principles but extensively discussing a wide variety of individual cases, this is a superb synthesis of current knowledge about animal locomotion. It will be enormously useful to advanced undergraduates, graduate students, and a range of professional biologists, physicists, and engineers.
