Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot

2012 ◽  
Author(s):  
Gustavo Freitas ◽  
Fernando Lizarralde ◽  
Liu Hsu ◽  
Vitor Paranhos ◽  
Ney R. Salvi dos Reis ◽  
...  
Keyword(s):  
Legged Locomotion ◽  
Modeling And Control ◽  
Locomotion System ◽  
And Control

scholarly journals Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot

2011 ◽  
Author(s):  
Gustavo Freitas ◽  
Fernando Lizarralde ◽  
Liu Hsu ◽  
Vitor Paranhos ◽  
Ney R. Salvi dos Reis ◽  
...  
Keyword(s):  
Legged Locomotion ◽  
Modeling And Control ◽  
Locomotion System ◽  
And Control

Modeling and Control of Legged Locomotion via Switching Max-Plus Models

2014 ◽  
Vol 30 (3) ◽  
pp. 652-665 ◽  
Author(s):  
Gabriel A. D. Lopes ◽  
Bart Kersbergen ◽  
Ton J. J. van den Boom ◽  
Bart De Schutter ◽  
Robert Babuska
Keyword(s):  
Legged Locomotion ◽  
Modeling And Control ◽  
And Control

scholarly journals Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 29
Author(s):  
Vítor H. Pinto ◽  
José Gonçalves ◽  
Paulo Costa
Keyword(s):  
Design Process ◽  
Low Cost ◽  
Biologically Inspired ◽  
External Disturbances ◽  
State Space Approach ◽  
Modeling And Control ◽  
Locomotion System ◽  
Rigid Joints ◽  
And Control ◽  
Space Approach

This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system’s stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system’s design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

Modeling and Control of Legged Locomotion via Switching Max-Plus Systems

2010 ◽  
Vol 43 (12) ◽  
pp. 382-387
Author(s):  
G.A.D. Lopes ◽  
T.J.J. van den Boom ◽  
B. De Schutter ◽  
R. Babuška
Keyword(s):  
Legged Locomotion ◽  
Modeling And Control ◽  
And Control

Modeling and Control for Plant Dynamics Based on Reinforcement Learning

2009 ◽  
Vol 129 (4) ◽  
pp. 363-367
Author(s):  
Tomoyuki Maeda ◽  
Makishi Nakayama ◽  
Hiroshi Narazaki ◽  
Akira Kitamura
Keyword(s):  
Reinforcement Learning ◽  
Modeling And Control ◽  
Plant Dynamics ◽  
And Control
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