Fuzzy variable stiffness in landing phase for jumping robot

Some important applications of humanoid robots in the nearest future are elder care, search and rescue of human victims in disaster zones and human machine interaction. Humanoid robots require a variety of motions and appropriate control strategies to accomplish those applications. This work focu...

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Autores Principales: Calderón, Juan M., Moreno, Wilfrido, Weitzenfeld, Alfredo
Formato: Desconocido (Unknown)
Publicado: 2019
Materias:
Acceso en línea:http://hdl.handle.net/11634/20412
id ir-11634-20412
recordtype dspace
institution Universidad Santo Tomas
collection DSpace
topic Jumping robot
Variable stiffness
Landing phase
spellingShingle Jumping robot
Variable stiffness
Landing phase
Calderón, Juan M.
Moreno, Wilfrido
Weitzenfeld, Alfredo
Fuzzy variable stiffness in landing phase for jumping robot
description Some important applications of humanoid robots in the nearest future are elder care, search and rescue of human victims in disaster zones and human machine interaction. Humanoid robots require a variety of motions and appropriate control strategies to accomplish those applications. This work focuses on vertical jump movements with soft landing. The principal objective is to perform soft contact allowing the displacement of the Center of Mass (CoM) in the landing phase. This is achieved by affecting the nominal value of the constant parameter P in the PID controller of the knee and ankle motors. During the vertical jump phases, computed torque control is applied. Additionally, in the landing phase, a fuzzy system is used to compute a suitable value for P, allowing the robot to reduce the impact through CoM displacement. The strategy is executed on a gait robot of three Degrees of Freedom (DoF). The effect of the impact reduction is estimated with the calculations of the CoM displacement and the impact force average during the landing phase.
format Desconocido (Unknown)
author Calderón, Juan M.
Moreno, Wilfrido
Weitzenfeld, Alfredo
author_facet Calderón, Juan M.
Moreno, Wilfrido
Weitzenfeld, Alfredo
author_sort Calderón, Juan M.
title Fuzzy variable stiffness in landing phase for jumping robot
title_short Fuzzy variable stiffness in landing phase for jumping robot
title_full Fuzzy variable stiffness in landing phase for jumping robot
title_fullStr Fuzzy variable stiffness in landing phase for jumping robot
title_full_unstemmed Fuzzy variable stiffness in landing phase for jumping robot
title_sort fuzzy variable stiffness in landing phase for jumping robot
publishDate 2019
url http://hdl.handle.net/11634/20412
_version_ 1712104130837741568
spelling ir-11634-204122020-05-10T10:22:04Z Fuzzy variable stiffness in landing phase for jumping robot Calderón, Juan M. Moreno, Wilfrido Weitzenfeld, Alfredo Jumping robot Variable stiffness Landing phase Some important applications of humanoid robots in the nearest future are elder care, search and rescue of human victims in disaster zones and human machine interaction. Humanoid robots require a variety of motions and appropriate control strategies to accomplish those applications. This work focuses on vertical jump movements with soft landing. The principal objective is to perform soft contact allowing the displacement of the Center of Mass (CoM) in the landing phase. This is achieved by affecting the nominal value of the constant parameter P in the PID controller of the knee and ankle motors. During the vertical jump phases, computed torque control is applied. Additionally, in the landing phase, a fuzzy system is used to compute a suitable value for P, allowing the robot to reduce the impact through CoM displacement. The strategy is executed on a gait robot of three Degrees of Freedom (DoF). The effect of the impact reduction is estimated with the calculations of the CoM displacement and the impact force average during the landing phase. http://unidadinvestigacion.usta.edu.co 2019-12-17T16:17:08Z 2019-12-17T16:17:08Z 2015-12-15 Generación de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicos http://hdl.handle.net/11634/20412 https://doi.org/10.1007/978-3-319-28031-8_45 DARPA, DARPA Robotics Challenge, DARPA. http://www.theroboticschallenge.org/ (2015). Accessed Jan 2015 Georgia, I.M.I.: A Roadmap for U.S. Robotics From Internet to Robotics. Robotics in The United State of America (2013) Kajita, S., Nagasaki, T., Kaneko, K.,Yokoi, K.: A hop towards running humanoid biped. In: Proceedings of ICRA’04. 2004 IEEE International Conference on Robotics and Automation (2004) Raibert, M.H., Brown, B.H., Chepponis, M.: Experiments in balance with a 3D one-legged hopping machine. Int. J. Robot. Res. (1984) Sakka, S., Yokoi, K.: Humanoid vertical jumping based on force feedback and inertial forces optimization. In: IEEE International Conference on Robotics and Automation (2005) Sakka, S., Sian, N.E., Yokoi, K.: Motion pattern for the landing phase of a vertical jump for humanoid robots. In: International Conference on Intelligent Robots and Systems, 2006 IEEE/RSJ (2006) Missura, M., Behnke, S.: Self-stable omnidirectional walking with compliant joints. In: Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE International Conference on Humanoid Robots, Atlanta, USA (2013) Yiping, L., Wensing, P.M., Orin, D.E., Schmiedeler, J.P.: Fuzzy controlled hopping in a biped robot. In: International Conference on Robotics and Automation (ICRA), IEEE (2011) Hester, M., Wensing, P.M., Schmiedeler, J.P., Orin, D.E.: Fuzzy control of vertical jumping with a planar biped. In: ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (2010) Hester, M.S.: Stable Control of Jumping in a Planar Biped Robot. The Ohio State University, Ohio (2009) Daerden, F.: Conception and Realization of Pleated Pneumatic Artificial Muscles and Their Use as Compliant Actuation Elements. Vrije Universiteit Brussel, Belgium (1999) Beyl, P.,Vanderborght, B.,VanHam, R.,VanDamme,M.,Versluys, R., Lefeber, D.: Compliant actuation in new robotic applications. In: NCTAM067th National Congress on Theoretical and Applied Mechanics (2006) Vermeulen, J.: Trajectory Generation for Planar Hopping and Walking Robots: An Objective Parameter and Angular Momentum Approach. Vrije Universiteit Brussel, Brussel (2004) Babič, J., Lenarčič, J.: Vertical jump: biomechanical analysis and simulation study, New Devel. Humanoid Robot. (2007) Babič, J., Lenarčič, J.: Optimization of biarticular gastrocnemius muscle in humanoid jumping robot simulation. Int. J. Humanoid Robot. 02, 218–234 (2006) Umberger, B.: Mechanics of the vertical jump and two-joint muscles: implications for training. Strength Cond. J. 20(5) (1998) Babič, J., Damir, O., Lenarčič, J.: Balance and control of human inspired jumping robot. In: Advances in Robot Kinematics: Mechanisms and Motion (2006) Vukobratović,M., Borovac, B.: Zero moment point thirty five years of its life. Int. J. Humanoid Robot. 157–173 (2004) Hunt, L.R., Renjeng, S., Meyer, G.: Global transformations of nonlinear systems. IEEE Trans. Autom. Control, 2431 (1983) Gilbert, E.G., Joong, H.: An approach to nonlinear feedback control with aplications to robotics. IEEE Trans. Syst. Man Cybern. 879–884 (1984) Atribución-NoComercial-CompartirIgual 2.5 Colombia http://creativecommons.org/licenses/by-nc-sa/2.5/co/ application/pdf application/pdf CRAI-USTA Bogotá
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