Novel energy transfer mechanism in a running quadruped robot with one actuator per leg

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:33:57Z
dc.date.available	2014-03-01T01:33:57Z
dc.date.issued	2010	en
dc.identifier.issn	0169-1864	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/20630
dc.subject	Control	en
dc.subject	Energy transfer	en
dc.subject	Legged	en
dc.subject	Running	en
dc.subject.classification	Robotics	en
dc.subject.other	Complete control	en
dc.subject.other	Control energy	en
dc.subject.other	Controller tuning	en
dc.subject.other	Energy loss	en
dc.subject.other	Forward speed	en
dc.subject.other	Ground friction	en
dc.subject.other	Mechanism design	en
dc.subject.other	Novel methods	en
dc.subject.other	Physical parameters	en
dc.subject.other	Pitch control	en
dc.subject.other	Power autonomy	en
dc.subject.other	Quadruped Robots	en
dc.subject.other	Real-world	en
dc.subject.other	Running robots	en
dc.subject.other	Three-dimensional model	en
dc.subject.other	Unactuated degrees	en
dc.subject.other	Actuators	en
dc.subject.other	Algorithms	en
dc.subject.other	Controllers	en
dc.subject.other	Electron energy loss spectroscopy	en
dc.subject.other	Energy dissipation	en
dc.subject.other	Robots	en
dc.subject.other	Three dimensional	en
dc.subject.other	Machine design	en
dc.title	Novel energy transfer mechanism in a running quadruped robot with one actuator per leg	en
heal.type	journalArticle	en
heal.identifier.primary	10.1163/016918610X496937	en
heal.identifier.secondary	http://dx.doi.org/10.1163/016918610X496937	en
heal.language	English	en
heal.publicationDate	2010	en
heal.abstract	In this work we develop a novel method, or mechanism, of energy transfer in a quadruped running robot. The robot possesses only one actuator per leg, for lower weight and greater power autonomy. The developed mechanism ensures correct dispersion of energy to the actuated and the unactuated degrees of freedom of the robot for stable running. In the mechanism design, we address the added problem of running on inclined ground. In conjunction with a pitch control method, the energy transfer mechanism forms a complete control algorithm. Due to the novel dynamics-based design of the mechanism, it allows the arbitrary setting of the motion forward speed and apex height. Further, it may be applied for different robot physical parameters and ground inclines, without extensive controller tuning. This has not been previously possible using only one actuator per leg. Simulations of a detailed three-dimensional model of the robot demonstrate the mechanism on two different robots. The simulations take into account many real-world characteristics, including realistic leg models, energy loss due to feet collisions, foot-ground friction and energy losses in the joints. Results demonstrate that inclines of up to 20 degrees are properly negotiated. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010	en
heal.publisher	VSP BV	en
heal.journalName	Advanced Robotics	en
dc.identifier.doi	10.1163/016918610X496937	en
dc.identifier.isi	ISI:000278016700002	en
dc.identifier.volume	24	en
dc.identifier.issue	7	en
dc.identifier.spage	963	en
dc.identifier.epage	978	en