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Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism

Control and experiments of a multi-purpose bipedal locomotor...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Y. Sugahara T. Endo Hun-Ok Lim A. Takanishi Graduate School of Science and Engineering Waseda University Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Kanagawa Japan Humanoid Robotics Institute Waseda University Tokyo Japan Graduate School of Science and Engineering Waseda University Kanagawa Japan

This paper describes a control and a structure of a battery driven bipedal robot, WL-15(Waseda Leg-15), which has a 6-DOF parallel mechanism. WL-15 has been designed as a multi-purpose locomotion of robotic systems. This robot is controlled by the QNX real-time operating system. Using Math Works' SIMULINK and OPAL-RT's RT-LAB executed on Windows NT and QNX target systems, control software and pattern generator are developed. A walking control capable of dealing with various dynamic walking is proposed and tested indoors and outdoors using the WL-15. Dynamic biped walking is realized with the maximum step length of 200 mm, the maximum walking speed of 0.8 s/step and the minimum speed of 1.92 s/step. Also, the WL-15 is confirmed to be able to turn 90 deg in two steps and carry a load of 18 kg.

关键词： Legged locomotion Leg Mobile robots Humanoid robots Parallel robots Control systems Batteries design engineering Robot control Wheels

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Interactive biped locomotion based on visual/auditory information

Interactive biped locomotion based on visual/auditory inform...

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11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002

作者： Ogura, Yu Sugahara, Yusuke Kaneshima, Yoshiharu Hieda, Naoki Lim, Hun-Ok Takanishi, Atsuo Graduate School of Science and Engineering Waseda University 3-4-1 Ohkubo Shinjyuku-ku Tokyo 169-8555 Japan Department of System Design Engineering Kanagawa Institute of Technology Japan Humanoid Robotics Institute Waseda University Japan

ISBN: (纸本)0780375459

This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve realtime interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as a step length, a step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method. © 2002 IEEE.

关键词： Anthropomorphic robots

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Fuzzy position/vibration control of a 3-DOF rigid robot with a flexible tool

Fuzzy position/vibration control of a 3-DOF rigid robot with...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Alasty A. Sepehri Center of Excellence in Design Robotics and Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a difficult tool tip position control problem. In this paper, a new method will be presented for simultaneous tip position and vibration suppression control of a flexible tool on a rigid-link 3-DOF robot. This approach uses fuzzy logic rule-based controllers without using any sensor and actuator on the tool and with no a priori knowledge about the tool. Numerical simulation of robot and tool set has been accomplished and results support the fact that designed fuzzy controllers perform remarkably well in reducing vibrations and precision guidance of robot tool tip for tracking various trajectories.

关键词： Fuzzy control Vibration control Robot sensing systems Vibration measurement Manipulators Position control Fuzzy logic Actuators Numerical simulation Fuzzy sets

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Interactive biped locomotion based on visual/auditory information

Interactive biped locomotion based on visual/auditory inform...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Yu Ogura Y. Sugahara Y. Kaneshima Naoki Hieda Hun-ok Lim A. Takanishi Graduate School of Science and Engineering Warsaw University of Technology Shinjuku Tokyo Japan Humanoid Robotics Institute Warsaw University of Technology Japan Department of System Design Engineering Kanagawa Institute of Technology Japan

This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve real-time interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as step length, step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method.

关键词： Legged locomotion Human robot interaction Humanoid robots robotics and automation Learning systems Robot sensing systems Educational robots design engineering Manufacturing automation Collaborative work

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Proposal of modeling, simulation and implementation of robotics leg prosthesis

Proposal of modeling, simulation and implementation of robot...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： H.A. Hermini J.M. Rosario E.R. Cassemiro College of Mechanical Engineering Laboratory of Automation and Robotics Mechanical Design Department State University of Campinas-UNICAMP Campinas Brazil College of Mechanical Engineering LAR-Laboratory of Automation and Robotics Mechanical Design Department UNICAMP-University of Campinas Campinas

This paper presents a proposal of modeling, simulation and implementation of a robotic biped locomotion system. The initial step consists of the determination of the cinematic characteristics and the system performance during walking. Starting from the methodology of the generated kinematics model, several computational programs were elaborated with the purpose of reproducing and managing the space displacement, velocity and acceleration of the articulated system. To validate the developed algorithm, an articulated system prototype of a robotic leg was elaborated in which the developed methodology will be implemented and tested.

关键词： Proposals Legged locomotion Leg Prosthetics Computational modeling Orbital robotics System performance Kinematics Acceleration Prototypes

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Realization of continuous biped walking

Realization of continuous biped walking

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Hun-ok Lim A. Takanishi Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan Humanoid Robotics Institute Waseda University Japan

This study is aimed at the realization of a continuous walking-pattern generated by combining some different patterns such as turning, forward, backward and side step patterns. A biped-walking robot is required to have the function of followability and stability to achieve continuous follow walking in a humans living environment. Unit patterns for a biped locomotion are continuously generated by a walking pattern generator, and the complete walking pattern for followability is determined by synthesizing the unit patterns. The compensatory motion of the trunk and waist that is calculated by a stabilization control method ensures the stability of combined walking patterns. To explore human-like walking, we have constructed a two-legged robot, WABIAN-RII (WAseda Bipedal humANoid robot-Revised II). Through hardware experiments, the continuous biped walking is realized.

关键词： Legged locomotion Humanoid robots Service robots Foot Stability Turning Motion control Humans design engineering Systems engineering and theory

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Balance and impedance control for biped humanoid robot locomotion

Balance and impedance control for biped humanoid robot locom...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Hun-ok Lim S.A. Setiawan A. Takanishi Department of Systcm Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan Humanoid Robotics Institute Waseda University Japan Department of Mechanical Engineering Waseda University Japan

Describes a locomotion control for biped humanoid robots based on balance and and impedance control. The balance control is employed during a whole walking cycle, which can compensate for the moments generated by the biped walking. In the control, the compensatory motion of the trunk and waist is calculated from the trajectories of the lower-limbs, arms, head and ZMP. The parameters of the impedance control are adjusted in real-time according to the gait phase. The large damping coefficient of the impedance is applied to the landing leg to absorb the impact/contact force during the contact phase, while the large stiffness is given to increase the momentum reduced by the viscosity of the landing leg during the first half single support phase. By dynamic walking experiments using a human-like robot WABIAN-RIII, the validity of the proposed control methods is verified.

关键词： Impedance Humanoid robots Legged locomotion Leg Motion control Humans Arm Stability Foot Force control

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Proper filter design procedure for vibration suppression using delay-error-order curves

Proper filter design procedure for vibration suppression usi...

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2001 ASME International Mechanical engineering Congress and Exposition

作者： Economou, D. Mavroidis, C. Antoniadis, I. Natl. Technical University of Athens Department of Mechanical Engineering Mechanical Design Division 9 Heroon Polytechniou Str. 15773 Athens Greece Robotics and Mechatronics Laboratory Rutgers University State University of New Jersey 98 Brett Rd. Piscataway NJ 08854-8058 United States

Vibration suppression can be performed by digital filtering the input to the flexible system. Traditional digital filters have been proved to be efficient for vibration suppression, when they are properly designed, In order to ensure the proper filter design, the Delay-Error-Order (DEO) curves are introduced, to be used as a filter design tool. Based on the DEO curves, the vibration suppression properties and capabilities of the filter can be related with the design parameters involved in the traditional filter design methods. Using the DEO curves, the filters designed by means of conventional design methods posses excellent vibration suppression capabilities. This design procedure is presented in detail in this paper and an example of the application of the method is included.

关键词： Digital filters

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Experimental demonstration of input preconditioning for residual vibration suppression using low-pass FIR digital filters

Experimental demonstration of input preconditioning for resi...

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American Control Conference (ACC)

作者： D. Economou C. Lee C. Mavroidis I. Antoniadis Mechanical Design and Control Systems Division Department of Mechanical Engineering National and Technical University of Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and AeroSpace Engineering State University of New Jersey Rutgers Piscataway NJ USA

A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using conventional low-pass FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan; b) window-based method (using Chebyshev window); and c) constrained least squares method, are shown to demonstrate excellent vibration suppression when they are properly designed while they introduce minimum possible delay. In order to ensure maximally robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. The proposed method does not require modeling of the flexible system, can be used in a variety of systems exhibiting vibrations, is independent of the guidance function, is simple to implement in practical applications and robust to variations of the system dynamic parameters. The method is experimentally verified using a flexible aluminum beam attached at the end-effector of a robot manipulator. The beam is rotated, using one joint of the manipulator, from an initial to a final position. During this motion, vibrations of the beam are excited due to inertial forces. It is shown that the preconditioned inputs to the flexible system induce very little amount of residual vibrations compared to the inputs with no preconditioning.

关键词： Finite impulse response filter Robustness Digital filters Delay Control systems Mechanical engineering Vibration control Manipulator dynamics Convolution Aerodynamics

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Experiments on robust vibration suppression in mechatronic systems using IIR digital filters

Experiments on robust vibration suppression in mechatronic s...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： D. Economou C. Mavroidis I. Antoniadis Meohanical Design and Control Systems Division Departmeat of Mechanical Engineering National and Technical University of Athens Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

ISBN: (纸本)0780367367

In this paper, a method for suppressing residual vibrations in flexible mechatronic systems is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the arbitrary inputs to the system using infinite impulse response (IIR) digital filters. To ensure robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. It is shown that some of the IIR filters are capable of suppressing vibrations when they are properly designed.

关键词： Robustness Mechatronics Digital filters IIR filters Vibrations Finite impulse response filter Control systems Cranes Convolution Mechanical engineering

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