A New Methodology for the Design of Passive Biped Robots: Determining Conditions on the Robot’s Parameters for the Existence of Stable Walking CyclesReportar como inadecuado




A New Methodology for the Design of Passive Biped Robots: Determining Conditions on the Robot’s Parameters for the Existence of Stable Walking Cycles - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

Resumen

Currently, passive robots are designed following a trial and error processin which the existence of a stable walking cycle for a given passive robot’s modelis analyzed using Poincaré maps. The standard stability analysis procedure suffersfrom discretization aliasing, and it is not able to deal with complex passive models.In this paper a methodology that allows finding conditions on the robot’s parametersof a given passive model in order to obtain a stable walking cycle is proposed. Theproposed methodology overcomes the aliasing problem that arises when Poincarésections are discretized. Basically, it implements a search process that allows findingstable subspaces in the parameters’ space i.e., regions with parameters’ combinationsthat produce stable walking cycles, by simulating the robot dynamics fordifferent parameters’ combinations. After initial conditions are randomly selected,the robot’s dynamics is modeled step by step, and in the Poincaré section theexistence of a walking cycle is verified. The methodology includes the definition of asearch algorithm for exploring the parameters’ space, a method for the partition ofthe space in hypercubes and their efficient management using proper data structures, and the use of so-called design value functions that quantify the feasibility of theresulting parameters. Among the main characteristics of the proposed methodologyare being robot independent it can be used with any passive robot model, regardlessof its complexity, and robust stable subspaces incorporate a stability margin valuethat deals with differences between the robot’s model and its physical realization.The methodology is validated in the design process of a complex semi-passive robotthat includes trunk, knees, and non-punctual feet. The robot also considers the useof actuators, controllers and batteries for its actuation.



Autor: Vallejos, Paul; - Ruiz del Solar, Javier; - Swett, Francisco; -

Fuente: http://repositorio.uchile.cl/



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