scholarly journals Dynamic Walk Control of a Biped Robot with Potential Energy Conserving Orbit

1987 ◽  
Vol 23 (3) ◽  
pp. 281-287 ◽  
Author(s):  
Syuji KAJITA ◽  
Akira KOBAYASHI
Keyword(s):  
Potential Energy ◽  
Biped Robot ◽  
Energy Conserving

Energy-free adjustment of gravity equilibrators by adjusting the spring stiffness

2008 ◽  
Vol 222 (9) ◽  
pp. 1839-1846 ◽  
Author(s):  
W D van Dorsser ◽  
R Barents ◽  
B M Wisse ◽  
M Schenk ◽  
J L Herder
Keyword(s):  
Potential Energy ◽  
Total Potential Energy ◽  
Spring Stiffness ◽  
External Energy ◽  
Static Balancing ◽  
Concept Model ◽  
Total Potential ◽  
Novel Variant ◽  
Energy Conserving

Static balancing is a useful concept to reduce the operating effort of mechanisms. Spring mechanisms are used to achieve a constant total potential energy, thus eliminating any preferred position. Quasi-statically, the mechanism, once statically balanced, can be moved virtually without the operating energy. In some cases, it is desirable to adjust the characteristic of the balancer, for instance, due to a change in the payload in a gravity balanced mechanism. The adjustment of current static balancers requires significant operating energy. This paper will present a novel variant to adjust the spring- and linkage-based static balancers without the need for external energy. The variant makes use of the possibility to adjust the spring stiffness in an energy-conserving way by adjusting the number of active coils. The conditions under which it functions properly will be given, and a proof of the concept model will be shown.

Further Investigation of the Period-Three Route to Chaos in the Passive Compass-Gait Biped Model

2015 ◽  
pp. 279-300 ◽  
Author(s):  
Hassène Gritli ◽  
Nahla Khraief ◽  
Safya Belghith
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Limit Cycle ◽  
Basin Of Attraction ◽  
Biped Robot ◽  
Computation Method ◽  
Dynamic Walking ◽  
Route To Chaos ◽  
Inclined Surface ◽  
The Basin Of Attraction

This chapter presents further investigations into the period-three route to chaos exhibited in the passive dynamic walking of the compass-gait biped robot as it goes down an inclined surface. This discovered kind of route in the passive bipedal locomotion was found to coexist with the conventional period-one passive hybrid limit cycle. The further analysis on the period-three route chaos is realized by means of the Lyapunov exponents and the fractal Lyapunov dimension. Numerical computation method of these two tools is presented. The first return Poincaré map of the chaotic attractor and its basin of attraction are presented. Furthermore, the further study of the period-three passive gait is realized. The analysis of the period-three hybrid limit cycle is given. The balance between the potential energy and the kinetic energy of the biped robot is illustrated. In addition, the basin of attraction of the period-three passive gait is also presented.

Stabilization of Biped Walking Robot Using the Energy Shaping Method

2008 ◽  
Vol 3 (4) ◽  
Author(s):  
Ehsan Azadi Yazdi ◽  
Aria Alasty
Keyword(s):  
Potential Energy ◽  
Initial Conditions ◽  
Biped Robot ◽  
Lagrangian Method ◽  
Feedback Stabilization ◽  
Stable Limit ◽  
Walking Robot ◽  
Energy Shaping ◽  
Biped Walking ◽  
Biped Walking Robot

The biped walking robot demonstrates a stable limit cycle on shallow slopes. In previous researches, this passive gait was shown to be sensitive to ground slope and initial conditions. In this paper, we discuss the feedback stabilization of a biped robot by the “energy shaping” technique. Two designs are proposed to reduce the sensitivity of the biped walking robot to slope and initial conditions. In the first design, a moving mass actuator is located on each link of the robot. The actuators are used to shape the potential energy of the biped robot so that it tracks the potential energy of a known passive gait of a similar biped robot on a different slope. Although the method is applied to a simple kneeless planar biped, our results are completely generalizable and may be applied to general n-link bipeds. The second design uses a momentum wheel, which is placed on the hip of the robot to shape the energy of the biped. We use the controlled Lagrangian method to design the controller, and the simulation is carried out to show its performance. In the controlled Lagrangian method, either the total energy or the Lagrangian of the uncontrolled system is modified so that the Euler–Lagrange equations derived from this modified expression, called the controlled Lagrangian function, describe the closed loop equations of the system.

Redox Reactions in Lipid Membranes as a Model for Primordial Energy-Conserving Systems

1997 ◽  
Vol 161 ◽  
pp. 437-442
Author(s):  
Salvatore Di Bernardo ◽  
Romana Fato ◽  
Giorgio Lenaz
Keyword(s):  
Experimental Evidence ◽  
Lipid Membranes ◽  
Energy Supply ◽  
Redox Reactions ◽  
Living Systems ◽  
Asymmetric Distribution ◽  
Conservation Of Energy ◽  
Asymmetrical Distribution ◽  
Energy Conserving ◽  
Living Organisms

AbstractOne of the peculiar aspects of living systems is the production and conservation of energy. This aspect is provided by specialized organelles, such as the mitochondria and chloroplasts, in developed living organisms. In primordial systems lacking specialized enzymatic complexes the energy supply was probably bound to the generation and maintenance of an asymmetric distribution of charged molecules in compartmentalized systems. On the basis of experimental evidence, we suggest that lipophilic quinones were involved in the generation of this asymmetrical distribution of charges through vectorial redox reactions across lipid membranes.

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