| Revista: | Journal of the Brazilian Society of Mechanical Sciences |
| Base de datos: | PERIÓDICA |
| Número de sistema: | 000312071 |
| ISSN: | 0100-7386 |
| Autores: | Schammass, A1 Caurin, G.A.P2 Valente, C.M.O |
| Instituciones: | 1Universidade de Sao Paulo, Departamento de Engenharia Mecanica, Sao Carlos, Sao Paulo. Brasil 2Universidade Bandeirante de Sao Paulo, Sao Bernardo do Campo, Sao Paulo. Brasil |
| Año: | 2001 |
| Volumen: | 23 |
| Número: | 1 |
| Paginación: | 41-48 |
| País: | Brasil |
| Idioma: | Inglés |
| Tipo de documento: | Artículo |
| Enfoque: | Experimental |
| Resumen en inglés | This paper presents a new strategy to control an one-legged robot aiming to reduce the energy expended by the system. To validate this algorithm, a classic method as benchmark was used. This method has been extensively validated by simulations and experimental prototypes in the literature. For simplicity reasons, the work is restricted to the two dimensional case due to simplicity reasons. This new method is compared to the classic one with respect to performance and energy expended by the system. The model consists on a springy leg, a simple body, and an actuated hinge-type hip. The new control strategy is composed of three parts, considering the hopping height, the forward speed, and the body orientation separately. The method exploits the system passive dynamics, defined as non-forced response of the system. In this case, the model is modified adding a spring to the hip. The method defines a desired leg trajectory close to the passive hip swing movement. Simulation results for both methods are analyzed and compared |
| Disciplinas: | Ingeniería |
| Palabras clave: | Ingeniería biónica y cibernética, Ingeniería de control, Robótica, Robots móviles, Locomoción, Pierna, Sistemas de control, Algoritmos |
| Keyword: | Engineering, Bionics and cybernetics, Control engineering, Robotics, Mobile robot, Locomotion, Legs, Control systems, Algorithms |
| Texto completo: | Texto completo (Ver HTML) |
