Apex Height Control of a Two-Mass Robot Hopping on a Viscoelastic Foundation With Inertia

2018 ◽  
Author(s):  
Amer Allafi ◽  
Frank B. Mathis ◽  
Ranjan Mukherjee
Keyword(s):  
Control Strategy ◽  
Hybrid Control ◽  
Center Of Mass ◽  
Internal Degree ◽  
Degree Of Freedom ◽  
Integral Control ◽  
Additional Degree ◽  
Apex Height ◽  
Mass Spring ◽  
Internal Degree Of Freedom

A majority of the results in the literature on hopping robots assume the ground to be rigid. Hopping on a foundation that can be modeled as a mass-spring-damper system poses challenges due to undesired vibration of the additional degree-of-freedom and dissipation due to impact and viscous damping. A hybrid control strategy is developed to converge the maximum jumping height of the center-of-mass of a two-link prismatic-joint robot to a desired value. The hybrid control strategy uses backstepping in continuous time and integral control in discrete time to control the internal degree-of-freedom and the total energy. Simulation results are presented to demonstrate the efficacy of the controller.

BIPED HOPPING CONTROL BAzSED ON SPRING LOADED INVERTED PENDULUM MODEL

2010 ◽  
Vol 07 (02) ◽  
pp. 263-280 ◽  
Author(s):  
SEYED HOSSEIN TAMADDONI ◽  
FARID JAFARI ◽  
ALI MEGHDARI ◽  
SAEED SOHRABPOUR
Keyword(s):  
Control Strategy ◽  
Inverted Pendulum ◽  
Hybrid Control ◽  
Sagittal Plane ◽  
Center Of Mass ◽  
Slip Model ◽  
Inverted Pendulum Model ◽  
Wide Range ◽  
Spring Loaded Inverted Pendulum ◽  
Mass Spring

Human running can be stabilized in a wide range of speeds by automatically adjusting muscular properties of leg and torso. It is known that fast locomotion dynamics can be approximated by a spring loaded inverted pendulum (SLIP) system, in which leg is replaced by a single spring connecting body mass to ground. Taking advantage of the inherent stability of SLIP model, a hybrid control strategy is developed that guarantees a stable biped locomotion in sagittal plane. In the presented approach, nonlinear control methods are applied to synchronize the biped dynamics and the spring-mass dynamics. As the biped center of mass follows the mass of the mass-spring model, the whole biped performs a stable locomotion corresponding to SLIP model. Simulations are done to obtain a repeatable hopping for a three-link underactuated biped model. Results show that periodic hopping gaits can be stabilized, and the presented control strategy provides feasible gait trajectories for stance and swing phases.

scholarly journals Depinning of domain walls with an internal degree of freedom

2009 ◽  
Vol 80 (5) ◽  
Author(s):  
V. Lecomte ◽  
S. E. Barnes ◽  
J.-P. Eckmann ◽  
T. Giamarchi
Keyword(s):  
Domain Walls ◽  
Internal Degree ◽  
Degree Of Freedom ◽  
Internal Degree Of Freedom

scholarly journals Isotropic Brillouin spectra of liquids having an internal degree of freedom

2007 ◽  
Vol 126 (1) ◽  
pp. 014508 ◽  
Author(s):  
A. Patkowski ◽  
J. Gapinski ◽  
G. Meier ◽  
H. Kriegs
Keyword(s):  
Internal Degree ◽  
Degree Of Freedom ◽  
Internal Degree Of Freedom

201 The effect of internal degree of freedom on the nucleation of bubble

2001 ◽  
Vol 2001 (0) ◽  
pp. 25
Author(s):  
Takashi TOKUMASU ◽  
Kenjiro KAMIJO ◽  
Yoichiro MATSUMOTO
Keyword(s):  
Internal Degree ◽  
Degree Of Freedom ◽  
Internal Degree Of Freedom

scholarly journals Single degree of freedom everting ring linkages with nonorientable topology

2018 ◽  
Vol 116 (1) ◽  
pp. 90-95 ◽  
Author(s):  
Johannes Schönke ◽  
Eliot Fried
Keyword(s):  
Twist Angle ◽  
Rigid Bodies ◽  
Internal Degree ◽  
Degree Of Freedom ◽  
Planar Mechanisms ◽  
Single Degree Of Freedom ◽  
Robotic Arms ◽  
Ring Molecules ◽  
Internal Degree Of Freedom ◽  
Four Bar Linkage

Linkages are assemblies of rigid bodies connected through joints. They serve as the basis for force- and movement-managing devices ranging from ordinary pliers to high-precision robotic arms. Aside from planar mechanisms, like the well-known four-bar linkage, only a few linkages with a single internal degree of freedom—meaning that they can change shape in only one way and may thus be easily controlled—have been known to date. Here, we present “Möbius kaleidocycles,” a previously undiscovered class of single-internal degree of freedom ring linkages containing nontrivial examples of spatially underconstrained mechanisms. A Möbius kaleidocycle is made from seven or more identical links joined by revolute hinges. These links dictate a specific twist angle between neighboring hinges, and the hinge orientations induce a nonorientable topology equivalent to the topology of a3π-twist Möbius band. Apart from having many technological applications, including perhaps the design of organic ring molecules with peculiar electronic properties, Möbius kaleidocycles raise fundamental questions about geometry, topology, and the limitations of mobility for closed loop linkages.

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