scholarly journals Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion

Sensors ◽  
2020 ◽  
Vol 20 (22) ◽  
pp. 6543
Author(s):  
Ru Kang ◽  
Fei Meng ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Xuxiao Fan ◽  
...  
Keyword(s):  
Structural Design ◽  
Control Method ◽  
Design Method ◽  
Load Capacity ◽  
Center Of Mass ◽  
Integrated Design ◽  
Pattern Generator ◽  
Quadruped Robot ◽  
Point Of View ◽  
High Payload

Load capacity is an important index to reflect the practicability of legged robots. Existing research into quadruped robots has not analyzed their load performance in terms of their structural design and control method from a systematic point of view. This paper proposes a structural design method and crawling pattern generator for a planar quadruped robot that can realize high-payload locomotion. First, the functions required to evaluate the leg’s load capacity are established, and quantitative comparative analyses of the candidates are performed to select the leg structure with the best load capacity. We also propose a highly integrated design method for a driver module to improve the robot’s load capacity. Second, in order to realize stable load locomotion, a novel crawling pattern generator based on trunk swaying is proposed which can realize lateral center of mass (CoM) movement by adjusting the leg lengths on both sides to change the CoM projection in the trunk width direction. Finally, loaded crawling simulations and experiments performed with our self-developed quadruped robot show that stable crawling with load ratios exceeding 66% can be realized, thus verifying the effectiveness and superiority of the proposed method.

Integrated Design for Steering System and Suspension

2014 ◽  
Vol 494-495 ◽  
pp. 159-162
Author(s):  
En Guo Dong ◽  
Lei Zhang ◽  
Li Xue Liang
Keyword(s):  
Simulation Model ◽  
Ride Comfort ◽  
Control Method ◽  
Design Method ◽  
Integrated Control ◽  
Integrated Design ◽  
Steering System ◽  
Suspension System ◽  
Vertical Acceleration ◽  
Integrated Simulation

A design method of integrated control for suspension system and steering system is proposed based on vehicle ride comfort and handling stability. A car simulation model is built applying the software of MATLAB and ADAMS. The construction and characteristic of the integrated simulation model of the suspension system and steering system is illustrated in detail which uses fuzzy method and PID method. Using the simulation model, body vertical acceleration, roll angle and yaw angular velocity are measured in three status which include no control condition, the individually control for active suspension, and the integration control respectively. The simulation data show that the integrated control method synchronously ensures the ride comfort and handling stability.

A Computation-Efficient Framework for the Integrated Design of Structural and Control Systems

2016 ◽  
Vol 138 (9) ◽  
Author(s):  
Yilun Liu ◽  
Lei Zuo
Keyword(s):  
Control System ◽  
Decentralized Control ◽  
Output Feedback ◽  
Structural Design ◽  
Design Problem ◽  
Design Method ◽  
Integrated Design ◽  
Design Parameters ◽  
Feedback Controllers ◽  
Control Techniques

This paper proposes a new integrated design method to simultaneously optimize the coupled structural parameters and controllers of mechanical systems by combining decentralized control techniques and Riccati-based control theories. The proposed integrated design method aims at minimizing the closed-loop H2 norm from the disturbance to the system cost. In this paper, the integrated design problems have been formulated in the cases of full state-feedback controllers and full order output-feedback controllers. We extend the current linear time invariant (LTI) control system to a more general framework suitable for the needs of integrated design, where the structural design is treated as a passive control optimization tackled by decentralized control techniques with static output feedback, while the active controller is optimized by solving modified Riccati equations. By using this dual-loop control system framework, the original integrated design problem is transferred to a constrained structural design problem with some additional Riccati-equation based constraints simultaneously integrating the controller synthesis. This reduces the independent design variables from the structural design parameters and the parameters of the controller to the structural design parameters only. As a result, the optimization efficiency is significantly improved. Then the constrained structural design problem is reformed as an unconstrained optimization problem by introducing Lagrange multipliers and a Lagrange function. The corresponding optimal conditions for the integrated design are also derived, which can be efficiently solved by gradient-based optimization algorithms. Later, two design examples, an active–passive vehicle suspension system and an active–passive tuned mass damper (TMD) system, are presented. The improvement of the overall system performance is also presented in comparison with conventional design methods.

scholarly journals Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs

2019 ◽  
Vol 9 (4) ◽  
pp. 799 ◽  
Author(s):  
Sarun Chattunyakit ◽  
Yukinori Kobayashi ◽  
Takanori Emaru ◽  
Ankit Ravankar
Keyword(s):  
Structural Design ◽  
Numerical Optimization ◽  
Control Method ◽  
Optimization Technique ◽  
Quadruped Robot ◽  
Robotic Platform ◽  
Recovery Method ◽  
Q Learning ◽  
And Behavior ◽  
Self Learning

In this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs. Because the pre-designed controller cannot be executed when the robot is damaged, a control strategy to avoid task failures in such a scenario should be developed. Not only the control method but also the shape and structure of the robot itself are significant for the robot to be able to move again after damage. We present a caterpillar-inspired quadruped robot (CIQR) and a self-learning mudskipper inspired crawling (SLMIC) algorithm in this research. The CIQR is realized by imitating the prolegs of caterpillars and by using a numerical optimization technique. A reinforcement learning method called Q-learning is employed to improve the adaptability of locomotion based on the crawling behavior of mudskipper. The results show that the proposed robotic platform and recovery method can improve the moving ability of the damaged quadruped robot with a few active legs in both simulations and experiments. Moreover, we obtained satisfactory results showing that a damaged multi-legged robot with at least one leg could travel properly along the required direction. Furthermore, the presented algorithm can successfully be employed in a damaged quadruped robot with fewer than four legs.

The Multi-Objective Oriented Product Design Method in the Machine Tool

2012 ◽  
Vol 544 ◽  
pp. 229-234
Author(s):  
Wei Zhan Li ◽  
Xian Ying Yang
Keyword(s):  
Machine Tool ◽  
Product Design ◽  
Structural Design ◽  
Large Scale ◽  
Design Method ◽  
Integrated Design ◽  
Frame Structure ◽  
Multi Objective ◽  
Systemic Factors

The Large-scale Laser Process Center (LLPC) is a type of Machine Tool (MT). With the LLPC as a sample, this paper analyzed the systemic factors of the MT product, built the Multi-Objective(MO) system impacting on the product design results, with the requires of MO proposed a integrated design method with a Frame Structure(FS), applied on the practical design of LLPC. By the verification from the process controlling and reality product, proved the expectation and the value of this method. It gave a reasonable guide for the structural design and cleared the product design confused stage, improved the design efficiency and the image quality of MT product, and indicated the main design process line in the product development.

scholarly journals Suboptimal Disturbance Observer Design Using All Stabilizing Q Filter for Precise Tracking Control

Mathematics ◽  
2020 ◽  
Vol 8 (9) ◽  
pp. 1434 ◽  
Author(s):  
Wonhee Kim ◽  
Sangmin Suh
Keyword(s):  
Design Method ◽  
Industrial Applications ◽  
Point Of View ◽  
Observer Design ◽  
Linear Matrix ◽  
External Disturbances ◽  
Closed Loop Systems ◽  
Control Target ◽  
The Stability ◽  
Unified Index

For several decades, disturbance observers (DOs) have been widely utilized to enhance tracking performance by reducing external disturbances in different industrial applications. However, although a DO is a verified control structure, a conventional DO does not guarantee stability. This paper proposes a stability-guaranteed design method, while maintaining the DO structure. The proposed design method uses a linear matrix inequality (LMI)-based H∞ control because the LMI-based control guarantees the stability of closed loop systems. However, applying the DO design to the LMI framework is not trivial because there are two control targets, whereas the standard LMI stabilizes a single control target. In this study, the problem is first resolved by building a single fictitious model because the two models are serial and can be considered as a single model from the Q-filter point of view. Using the proposed design framework, all-stabilizing Q filters are calculated. In addition, for the stability and robustness of the DO, two metrics are proposed to quantify the stability and robustness and combined into a single unified index to satisfy both metrics. Based on an application example, it is verified that the proposed method is effective, with a performance improvement of 10.8%.

Innovative Use of Profiled Steel Plates for Seismic Structural Performance

2005 ◽  
Vol 8 (3) ◽  
pp. 247-257 ◽  
Author(s):  
Y. Fukumoto ◽  
T. Takaku ◽  
T. Aoki ◽  
K. A. S. Susantha
Keyword(s):  
Numerical Analysis ◽  
Seismic Performance ◽  
Structural Design ◽  
Design Method ◽  
Steel Plates ◽  
Structural Performance ◽  
Cyclic Testing ◽  
Beam Columns ◽  
Bridge Bents ◽  
Hot Rolled

This paper presents the innovative use of hot-rolled thickness-tapered mill products, longitudinally profiled (LP) plates, for the seismic performance of bridge bents of single and portal framed piers. The study involves the inelastic cyclic testing and numerical analysis of tested beam-columns and portal frames in order to evaluate the effects of tapering ratios of LP plates, penetration of yielding, and number of locally buckled panels on their structural ductility. A structural design method is proposed for the portal frames having LP panels under cyclic loadings.

Intelligent Information of TS Fuzzy PID Control System of BLDCM

2013 ◽  
Vol 846-847 ◽  
pp. 313-316 ◽  
Author(s):  
Xiao Yun Zhang
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Pid Control ◽  
Control Method ◽  
Design Method ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Control Precision ◽  
Simulation Results ◽  
Intelligent Information

This paper presented a new method based on the Fuzzy self - adaptive PID for BLDCM. This method overcomes some defects of the traditional PID control. Such as lower control precision and worse anti - jamming performance. It dynamic model of BLDCM was built, and then design method for TS fuzzy PID model is given, At last, it compared simulation results of PID control method with TS Fuzzy PID control method. The results show that the TS Fuzzy PID control method has more excellent dynamic antistatic performances, as well as anti-jamming performance. The experiment shows that TS fuzzy PID control has the stronger adaptability robustness and transplant.

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