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Acevedo, Mario
Design and Equilibrium Control of a Force-Balanced One-Leg Mechanism
Multibody dynamics for human-like locomotion
2018
,
Ponce, Hiram
,
Acevedo, Mario
The problem of equilibrium is critical for planning, control, and analysis of legged robot. Control algorithms for legged robots use the equilibrium criteria to avoid falls. The computational efficiency of the equilibrium tests is critical. To comply with this it is necessary to calculate the horizontal momentum rotation for every moment. For arbitrary contact geometries, more complex and computationally-expensive techniques are required. On the other hand designing equilibrium controllers for legged robots is a challenging problem. Nonlinear or more complex control systems have to be designed, complicating the computational cost and demanding robust actuators. In this paper, we propose a force-balanced mechanism as a building element for the synthesis of legged robots that can be easily balance controlled. The mechanism has two degrees of freedom, in opposition to the more traditional one degree of freedom linkages generally used as legs in robotics. This facilitates the efficient use of the “projection of the center of mass” criterion with the aid of a counter rotating inertia, reducing the number of calculations required by the control algorithm. Different experiments to balance the mechanism and to track unstable set-point positions have been done. Proportional error controllers with different strategies as well as learning approaches, based on an artificial intelligence method namely artificial hydrocarbon networks, have been used. Dynamic simulations results are reported. Videos of experiments will be available at: https://sites.google.com/up.edu.mx/smart-robotic-legs/. © 2018, Springer Nature Switzerland AG.
2020
,
Acevedo, Mario
,
Ponce, Hiram
Multibody dynamics has been a fundamental tool for modeling, simulation and design of human-like locomotion systems. Either in the prosthetic and orthotics sector to develop devices for improvement or restoration of mobility, or as in the simulation, design, and optimization of humanoid robots. A lot of research and development has been done in these challenging areas where new mechanisms and improvements in dynamics are always welcome. The dynamic balancing of mechanisms (force and moment balancing at the fixed base) is an area that, along with multibody dynamics, can help to improve the design of human-like locomotion systems. In this chapter, the application of a force-balanced mechanism is proposed as a leg to be part of a biped robot. Stability is analyzed through the application of learning approaches based on an artificial intelligence, namely artificial hydrocarbon networks. Modeling and results from multibody dynamics simulation are presented. © 2020 Elsevier Inc. All rights reserved.