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A robust sagittal plane hexapedal running model with serial elastic actuation and simple periodic feedforward control

Görner, Martin und Albu-Schäffer, Alin (2013) A robust sagittal plane hexapedal running model with serial elastic actuation and simple periodic feedforward control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 2013, 2013-11-03 - 2013-11-08, Tokio, Japan. doi: 10.1109/iros.2013.6697166.

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Kurzfassung

In this article we present a sagittal plane, sprawled posture hexapedal running model with distributed body inertia, massless legs and serial elastic actuation at the hips as well as along the telescoping legs. We show by simulation that simple, periodic, feedforward controlled actuation is sufficient to obtain steady period 1 running gaits at twice the actuation frequency. We observe a nearly linear relation of average running speed and actuation frequency. The ground reaction profiles of the legs show leg specialization as observed in running insects. Interleg phasing has a strong influence on the foot fall sequence and thus the overall body dynamics. While the single leg ground reaction force profiles show little dependency on interleg actuation phase the total reaction force does. Thus, depending on the interleg actuation phase body motions without flight phase are observed as well as body motions and total ground reaction forces that show similarities to those obtained for the spring loaded inverted pendulum model. Further, we show that including leg damping and a ground friction model the periodic orbits have a large region of attraction with respect to the initial conditions. Additionally, the model quickly rejects step up and step down disturbances as well as force impulses. Finally, we briefly discuss the energetics of the hexapedal running model.

elib-URL des Eintrags:https://elib.dlr.de/84824/
Dokumentart:Konferenzbeitrag (Vortrag)
Zusätzliche Informationen:Corrected version: non-zero leg damping values given in text, captions and legends are corrected. The original confererence publication presents leg damping values that are to small by a factor of ~10. The simulation results in the original and the corrected version are equal, just the leg damping values have been stated wrong.
Titel:A robust sagittal plane hexapedal running model with serial elastic actuation and simple periodic feedforward control
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Görner, MartinRMCNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Albu-Schäffer, AlinRMCNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:November 2013
Erschienen in:IEEE/RSJ International Conference on Intelligent Robots and Systems
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Ja
DOI:10.1109/iros.2013.6697166
Status:veröffentlicht
Stichwörter:hexapod, running, serial elastic actuation
Veranstaltungstitel:IROS 2013
Veranstaltungsort:Tokio, Japan
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:3 November 2013
Veranstaltungsende:8 November 2013
Veranstalter :IEEE/RSJ
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Terrestrische Assistenz-Robotik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013)
Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Komponenten und Systeme
Hinterlegt von: Görner, Martin
Hinterlegt am:16 Dez 2013 15:29
Letzte Änderung:24 Apr 2024 19:51

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