Design and control of a biomimetic hexapedal walker
This paper describes progress towards the development of a monopropellant-powered, pneumatically-actuated, hexapod robot. Design of the robot is presented, and an optimization based on the dynamic simulation of locomotion is described that selects the kinematic configuration to evenly distribute joi...
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| creator | Wait, K.W. Dalley, S.A. Goldfarb, M. |
| description | This paper describes progress towards the development of a monopropellant-powered, pneumatically-actuated, hexapod robot. Design of the robot is presented, and an optimization based on the dynamic simulation of locomotion is described that selects the kinematic configuration to evenly distribute joint torques in the leg during locomotion. A finite state controller and leg impedance controller are described, and the controller is experimentally implemented on a pair of the hexapod legs to (1) validate the effectiveness of the control approach and (2) verify that the joint torques are indeed evenly distributed within the legs. Another optimization based on the dynamic simulation of locomotion is described that selects weights for a coordination-level controller that best tracks a desired body velocity. |
| doi_str_mv | 10.1109/BIOROB.2008.4762867 |
| format | Conference Proceeding |
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Another optimization based on the dynamic simulation of locomotion is described that selects weights for a coordination-level controller that best tracks a desired body velocity.</description><subject>Actuators</subject><subject>Animals</subject><subject>Biomechatronics</subject><subject>Biomimetics</subject><subject>Impedance</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Robot kinematics</subject><subject>Torque control</subject><subject>Velocity control</subject><issn>2155-1774</issn><issn>2155-1782</issn><isbn>9781424428823</isbn><isbn>1424428823</isbn><isbn>9781424428830</isbn><isbn>1424428831</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2008</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkM1Kw0AUhcefgrXmCbqZF0i8dybzt7S1aqEQEF2XmeRGR5OmJAH17a1YBM_inMUH3-IwNkfIEMFdL9bFY7HIBIDNcqOF1eaEJc5YzEWeC2slnLKpQKVSNFac_WNCnv8xk0_Y5Y_GgdFOXrBkGN4AAMEeGqZM3tIQX3bc7ypedrux7xre1dzzELs2tjTGkr_Sp99T5Rv-4Zt36q_YpPbNQMlxZ-z5bvW0fEg3xf16ebNJIxo1psIEHRyUOsggQVEAUdaVDrausYLKl4EMgvJIALk7xKIyLgRSJBxJI2ds_uuNRLTd97H1_df2-If8BjXwTJs</recordid><startdate>200810</startdate><enddate>200810</enddate><creator>Wait, K.W.</creator><creator>Dalley, S.A.</creator><creator>Goldfarb, M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200810</creationdate><title>Design and control of a biomimetic hexapedal walker</title><author>Wait, K.W. ; Dalley, S.A. ; Goldfarb, M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-27b6b90c6b3b305eb02cfd6b8ff1d0dacbe7105a1e004999981579bbe5e29e373</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2008</creationdate><topic>Actuators</topic><topic>Animals</topic><topic>Biomechatronics</topic><topic>Biomimetics</topic><topic>Impedance</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Robot kinematics</topic><topic>Torque control</topic><topic>Velocity control</topic><toplevel>online_resources</toplevel><creatorcontrib>Wait, K.W.</creatorcontrib><creatorcontrib>Dalley, S.A.</creatorcontrib><creatorcontrib>Goldfarb, M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Wait, K.W.</au><au>Dalley, S.A.</au><au>Goldfarb, M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Design and control of a biomimetic hexapedal walker</atitle><btitle>2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics</btitle><stitle>BIOROB</stitle><date>2008-10</date><risdate>2008</risdate><spage>270</spage><epage>275</epage><pages>270-275</pages><issn>2155-1774</issn><eissn>2155-1782</eissn><isbn>9781424428823</isbn><isbn>1424428823</isbn><eisbn>9781424428830</eisbn><eisbn>1424428831</eisbn><abstract>This paper describes progress towards the development of a monopropellant-powered, pneumatically-actuated, hexapod robot. Design of the robot is presented, and an optimization based on the dynamic simulation of locomotion is described that selects the kinematic configuration to evenly distribute joint torques in the leg during locomotion. A finite state controller and leg impedance controller are described, and the controller is experimentally implemented on a pair of the hexapod legs to (1) validate the effectiveness of the control approach and (2) verify that the joint torques are indeed evenly distributed within the legs. Another optimization based on the dynamic simulation of locomotion is described that selects weights for a coordination-level controller that best tracks a desired body velocity.</abstract><pub>IEEE</pub><doi>10.1109/BIOROB.2008.4762867</doi><tpages>6</tpages></addata></record> |
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| identifier | ISSN: 2155-1774 |
| ispartof | 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008, p.270-275 |
| issn | 2155-1774 2155-1782 |
| language | eng |
| recordid | cdi_ieee_primary_4762867 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Animals Biomechatronics Biomimetics Impedance Leg Legged locomotion Robot kinematics Torque control Velocity control |
| title | Design and control of a biomimetic hexapedal walker |
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