Simulation of a dynamic vertical jump

Robotica ◽  
2001 ◽  
Vol 19 (1) ◽  
pp. 87-91 ◽  
Author(s):  
M. Guihard ◽  
P. Gorce
Keyword(s):  
Controller Design ◽  
Vertical Jump ◽  
Rigid Bodies ◽  
Pneumatic Actuator ◽  
Dynamic Effects ◽  
Complex Motion ◽  
Control Laws ◽  
Dynamic Tracking ◽  
High Acceleration ◽  
Mechanical Models

The aim of this paper is to propose a bipedal structure able to follow high acceleration movements. The vertical jump of a human has been chosen as input (coming from experiments) to validate the controller design as it is one of the most complex motion. The study concerns the low level of the biped control that is to say the control design of one leg made of three rigid bodies, each of them moved by a pneumatic actuator. An analogy between a pneumatic actuator and a physiological muscle is first proposed. A dynamic model of the leg is then presented decoupling the dynamic effects of the skeletal (as interactions between segments) from the dynamic effects of the muscles involved. The controller is based on the nonlinear theory (taking into account the actuator and the mechanical models), it ensures a dynamic tracking of position and force. Its originality lays in the consideration of impedance behaviour at each joint during free and constrained tasks. It leads to asymptotically stable (Popov criteria) control laws which are continuous between contact and non-contact phases enabling real-time computations. The simulation results clearly show the tracking of position and forces during the whole jump cycle.

Joint Impedance Pneumatic Control for Multilink Systems

1999 ◽  
Vol 121 (2) ◽  
pp. 293-297 ◽  
Author(s):  
P. Gorce ◽  
M. Guihard
Keyword(s):  
Biped Robot ◽  
Legged Robots ◽  
Continuous Control ◽  
Nonlinear Controller ◽  
Control Laws ◽  
Pneumatic Control ◽  
Dynamic Tracking ◽  
Mechanical Models ◽  
Good Behaviour ◽  
Computed Torque

In this paper, we propose a general controller for complex tasks such as coordination or manipulation for grasping systems or dynamic gaits for legged robots. Moreover, this controller is adapted to pneumatic actuated structures. The aim is then to ensure a dynamic tracking of position and force for systems which may interact with the environment or cooperate with each other. For that, we propose a nonlinear controller based on a computed torque method taking into account the actuator and the mechanical models. The originality lays in the consideration of impedance behaviour at each joint during free and constrained tasks. It leads to continuous control laws between contact and non-contact phases. The asymptotic stability is ensured using Popov criteria. The application proposed is the control of one pneumatic leg of a biped robot. We present a dynamic model of the leg and chosen trajectories. Simulation results of this new controller are presented, leading to a good behaviour of the leg during a whole walking cycle at relatively high velocities.

scholarly journals Formulation and Simulations of the Conserving Algorithm for Feedback Stabilization on Rigid Body Rotations

2014 ◽  
Vol 2014 ◽  
pp. 1-11
Author(s):  
Yong-Ren Pu ◽  
Thomas A. Posbergh
Keyword(s):  
Rigid Body ◽  
Closed Loop ◽  
Numerical Algorithms ◽  
Open Loop ◽  
Rigid Bodies ◽  
Feedback Stabilization ◽  
Conserved Quantities ◽  
Control Laws ◽  
Loop Control ◽  
Closed Loop Systems

The problem of stabilization of rigid bodies has received a great deal of attention for many years. People have developed a variety of feedback control laws to meet their design requirements and have formulated various but mostly open loop numerical algorithms for the dynamics of the corresponding closed loop systems. Since the conserved quantities such as energy, momentum, and symmetry play an important role in the dynamics, we investigate the conserved quantities for the closed loop control systems which formally or asymptotically stabilize rigid body rotation and modify the open loop numerical algorithms so that they preserve these important properties. Using several examples, the authors first use the open loop algorithm to simulate the tumbling rigid body actions and then use the resulting closed loop one to stabilize them.

Fuzzy Feedback Control for Real-Time Dynamic Traffic Routing: User Equilibrium Model Formulations and Controller Design

1996 ◽  
Vol 1556 (1) ◽  
pp. 137-146 ◽  
Author(s):  
Pushkin Kachroo ◽  
Kaan Özbay
Keyword(s):  
Feedback Control ◽  
Real Time ◽  
Controller Design ◽  
User Equilibrium ◽  
System Dynamics Model ◽  
Dynamics Model ◽  
Dynamic Traffic ◽  
Control Laws ◽  
Time Dynamic ◽  
Traffic Routing

The formulation of a system dynamics model for the dynamic traffic routing (DTR) problem is addressed, specifically for the application of real-time feedback control. Also addressed is the design of fuzzy feedback control laws for this problem. Fuzzy feedback control is suitable for solving the DTR problem, which is nonlinear and time varying and contains uncertainties. To illustrate the applicability of fuzzy logic in the design of feedback control for DTR, a simple software simulation was conducted that provided encouraging results.

Energy Consumption of Bio-Inspired Legged Walking Robot

2017 ◽  
Vol 872 ◽  
pp. 321-325
Author(s):  
Sung Ho Park
Keyword(s):  
Energy Efficiency ◽  
Specific Resistance ◽  
Mechanical Energy ◽  
Euler Method ◽  
Rigid Bodies ◽  
Body Structure ◽  
Walking Robot ◽  
Terrestrial Vertebrates ◽  
Mechanical Models ◽  
Optimal Values

Terrestrial vertebrates can walk more elegant than any other man-made legged mechanical models, which yield unstable locomotion with low speed. They continuously have modified their body structure and living patterns for the survival. They still continue their development. Legs are basically a serial linkage of rigid bodies connected by joints and exactly correspond to the manipulator in robot. Structure of living creatures are copied and modeled with 12 links, 12 joints and body, from the mechanical engineering viewpoint. Iterative Newton-Euler method is applied to compute torques acting all joints, which are required to calculate the total consumed energy to complete one locomotion cycle. Mechanical energy efficiency of different variables or systems are evaluated and compared by specific resistance. Parameters, specifying structure and locomotion, are applied to the simulation and the optimal values which minimize energy expenditure in locomotion are derived.

scholarly journals Guidance Law and Neural Control for Hypersonic Missile to Track Targets

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Wenxing Fu ◽  
Binbin Yan ◽  
Xiaofei Chang ◽  
Jie Yan
Keyword(s):  
Neural Control ◽  
Controller Design ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Laws ◽  
Guidance And Control ◽  
Maneuvering Target ◽  
Guidance Law ◽  
Control Command ◽  
And Control

Hypersonic technology plays an important role in prompt global strike. Because the flight dynamics of a hypersonic vehicle is nonlinear, uncertain, and highly coupled, the controller design is challenging, especially to design its guidance and control law during the attack of a maneuvering target. In this paper, the sliding mode control (SMC) method is used to develop the guidance law from which the desired flight path angle is derived. With the desired information as control command, the adaptive neural control in discrete time is investigated ingeniously for the longitudinal dynamics of the hypersonic missile. The proposed guidance and control laws are validated by simulation of a hypersonic missile against a maneuvering target. It is demonstrated that the scheme has good robustness and high accuracy to attack a maneuvering target in the presence of external disturbance and missile model uncertainty.

A New Methodology for Robot Controller Design

2005 ◽  
Author(s):  
Jan Peters ◽  
Michael Mistry ◽  
Firdaus Udwadia ◽  
Stefan Schaal
Keyword(s):  
Controller Design ◽  
Nonholonomic Constraints ◽  
Rigid Body Dynamics ◽  
Specific Class ◽  
Open Chain ◽  
Control Laws ◽  
Suggested Approach ◽  
Robot Controller ◽  
Closed Chain ◽  
Gauss Principle

Gauss’ principle of least constraint and its generalizations have provided a useful insights for the development of tracking controllers for mechanical systems [1]. Using this concept, we present a novel methodology for the design of a specific class of robot controllers. With our new framework, we demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic framework, and show experimental verifications on a Sarcos Master Arm robot for some of these controllers. We believe that the suggested approach unifies and simplifies the design of optimal nonlinear control laws for robots obeying rigid body dynamics equations, both with or without external constraints, holonomic or nonholonomic constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.

scholarly journals LPV-Based Controller Design of a Floating Piston Pneumatic Actuator

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 98
Author(s):  
Ádám Szabó ◽  
Tamás Bécsi ◽  
Szilárd Aradi ◽  
Péter Gáspár
Keyword(s):  
High Speed ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Pneumatic Actuator ◽  
Pd Controller ◽  
Linear Parameter ◽  
Linear Quadratic ◽  
Minimum Order ◽  
Linear Parameter Varying ◽  
Parameter Varying

The paper presents the modeling and control design of a floating piston pneumatic gearbox actuator using a grid-based Linear Parameter Varying approach. First, the nonlinear model of the pneumatic actuator is presented, then it is transformed into a 6th order Linear Parameter Varying representation with endogenous scheduling parameters. The model is simplified based on empirical considerations to solve the controller synthesis and allow fast controller tuning. The developed Linear Parameter Varying controller is tested in simulations. Moreover, using a balanced truncation-model order reduction method, the minimum order of the controller is determined, which can provide acceptable performance. The simplified controller is implemented in an embedded environment and validated against the real target. Then, the validation results are compared with a gain-scheduled PD controller and a Linear Quadratic Regulator. The results show that by taking the time-varying nature of the scheduling parameters into account, the Linear Parameter Varying controller surpasses the Linear Quadratic Regulator, which cannot handle the high-speed transients around Neutral. Furthermore, the PD controller performs slightly better in two of the four test cases, although the Linear Parameter Varying controller has a higher level of fault tolerance.

scholarly journals GPC Controller Design for an Intelligent Pneumatic Actuator

2012 ◽  
Vol 41 ◽  
pp. 657-663 ◽  
Author(s):  
Ahmad’Athif Mohd Faudzi ◽  
Nu’man Din Mustafa ◽  
Khairuddin bin Osman ◽  
M. Asyraf Azman ◽  
Koichi Suzumori
Keyword(s):  
Controller Design ◽  
Pneumatic Actuator

Control Methods for Bipedal Walking Robots With Integrated Elastic Elements

2019 ◽  
pp. 365-385
Author(s):  
Sergei Savin
Keyword(s):  
Control System ◽  
Controller Design ◽  
Feedback Controller ◽  
Bipedal Walking ◽  
Walking Robots ◽  
Control Methods ◽  
Control Laws ◽  
Motor Torque ◽  
Inertial Parameters ◽  
Elastic Elements

In this chapter, the problem of controlling bipedal walking robots with integrated elastic elements is considered. A survey of the existing control methods developed for walking robots is given, and their applicability to the task of controlling the robots with elastic elements is analyzed. The focus of the chapter lies with the feedback controller design. The chapter studies the influence that the elastic elements modelled as a spring-damper system have on the behavior of the control system. The influence of the spring-damper parameters and the inertial parameters of the actuator gear box and the motor shaft on the generated control laws and the resulting peak torques are discussed. The changes in these effects associated with motor torque saturation and sensors nonlinearities are studied. It is shown that the introduction of torque saturation changes the way the elastic drive parameters affect the resulting behavior of the control system. The ways to use obtained results in practice are discussed.

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