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S22 Mecatrônica |
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Title:
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MODELLING AND CONTROL OF A SIMULATED ONE-LEGGED ROBOT
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Summary :
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IN THIS PAPER A TWO-DIMENSIONAL ONE-LEGGED ROBOT IS MODELED AND SIMULATED USING TWO CONTROL ALGORITHMS. THESE TWO METHODS ARE COMPARED ON RESPECT TO PERFORMANCE AND ENERGY EXPENDED BY THE SYSTEM. THE MODEL IS CONSISTED OF A SPRINGY LEG, A SIMPLE BODY, AND AN ACTUATED HINGE-TYPE HIP. THE FIRST CONTROL STRATEGY IS DIVIDED IN THREE PARTS, CONSIDERING THE HOPPING HEIGHT, THE FORWARD SPEED, AND THE BODY ATTITUDE SEPARATELY. FIRSTLY PROPOSED BY RAIBERT, THIS STRATEGY HAS BEEN EXTENSIVELY VALIDATED BY SIMULATIONS AND EXPERIMENTAL PROTOTYPES, AND THEREFORE IT CAN BE USED AS BENCHMARK. THE SECOND METHOD EXPLOITS THE SYSTEM PASSIVE DYNAMICS, DEFINED AS NON-FORCED RESPONSE OF THE SYSTEM. IN THIS CASE, THE MODEL IS MODIFIED ADDING A HIP SPRING. THE METHOD DEFINES A DESIRED LEG TRAJECTORY CLOSE TO THE PASSIVE HIP SWING MOVEMENT. THE SIMULATION RESULTS FOR BOTH METHODS ARE ANALYZED AND COMPARED.
KEYWORDS: LEGGED LOCOMOTION, DYNAMICALLY STABLE SYSTEMS, PASSIVE DYNAMICS |
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Author :
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Caurin, Glauco Augusto de Paula
Schammass, Alexandre 0
Valente, Carlos Magno Oliveira
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Paper View :
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COBEM99
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