Volume 5A: 43rd Mechanisms and Robotics Conference最新文献_第4页

Time Invariant Motion Controller for Physical Human Robot Interaction 物理人机交互的时不变运动控制器

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98031

J. D. M. Osorio, Felipe Castañeda, F. Allmendinger, U. Zimmermann

引用次数: 2

Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane 双足机器人矢状面全身平衡准则

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98036

Carlotta Mummolo, William Z. Peng, Joo H. Kim

{"title":"Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane","authors":"Carlotta Mummolo, William Z. Peng, Joo H. Kim","doi":"10.1115/detc2019-98036","DOIUrl":"https://doi.org/10.1115/detc2019-98036","url":null,"abstract":"\u0000 In this work, the role of swing limb dynamics in the stabilization of legged systems is investigated. To quantify the contribution of arm swing during whole-body balancing, the balancing capability of a bipedal robotic platform is evaluated computationally during single and double foot contact for two configurations: arms fixed and arms free to move. The balancing capability with each arm configuration is evaluated by constructing its corresponding balance stability boundary, a threshold between balanced and falling states that includes all possible center of mass (COM) states that are balanced with respect to the specified arm and foot contact configuration. In this analysis, the bipedal robotic platform is modeled as a kinematic tree structure with floating-base dynamics in the sagittal plane. In addition to floating-base and joint-space dynamics, the complete COM-space dynamics of the system is established, including the formulation of the angular momentum (and its rate) of each rigid link, as well as a model of actuation dynamics based on motor characteristics. The comparison of the two balance stability regions yields both a quantitative measure of the enhancement in total balance capability and qualitative insights into the mechanism by which arm swing leads to enhanced capability. The role of arm swing angular momentum is also analyzed from the robot’s experimental gait trajectories as a potential means of benchmarking controller performance.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123429133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Kinematic Analysis of the Exechon Robot Accounting Offsets in the Joint Axes Exechon机器人在关节轴上计算位移的运动学分析

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97423

P. C. López-Custodio, J. Dai, R. Fu, Yan Jin

引用次数: 1

Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing 软弯曲驱动器的铸造和增材制造混合制造

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97842

Marcos Oliveira, Alexander Lurie, David Ewen, P. Long, T. Padır, Samuel M. Felton

引用次数: 1

Energetically-Optimal Discrete and Continuous Stabilization of the Rimless Wheel With Torso 带躯干无框轮的能量最优离散和连续稳定

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97955

Wankun Sirichotiyakul, A. Satici, E. Sanchez, Pranav A. Bhounsule

{"title":"Energetically-Optimal Discrete and Continuous Stabilization of the Rimless Wheel With Torso","authors":"Wankun Sirichotiyakul, A. Satici, E. Sanchez, Pranav A. Bhounsule","doi":"10.1115/detc2019-97955","DOIUrl":"https://doi.org/10.1115/detc2019-97955","url":null,"abstract":"\u0000 In this work, we discuss the modeling, control, and implementation of a rimless wheel with torso. We derive and compare two control methodologies: a discrete-time controller (DT) that updates the controls once-per-step and a continuous-time controller (CT) that updates gains continuously. For the discrete controller, we use least-squares estimation method to approximate the Poincaré map on a certain section and use discrete-linear-quadratic-regulator (DQLR) to stabilize a (closed-form) linearization of this map. For the continuous controller, we introduce moving Poincaré sections and stabilize the transverse dynamics along these moving sections. For both controllers, we estimate the region of attraction of the closed-loop system using sum-of-squares methods. Analysis of the impact map yields a refinement of the controller that stabilizes a steady-state walking gait with minimal energy loss. We present both simulation and experimental results that support the validity of the proposed approaches. We find that the CT controller has a larger region of attraction and smoother stabilization as compared with the DT controller.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126843484","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats 立方体卫星电帆系索展开系统的建模、验证和原型开发

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97952

Benjamin E. Hargis, Benjamin Brandt, S. Canfield, M. Tinker

{"title":"Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats","authors":"Benjamin E. Hargis, Benjamin Brandt, S. Canfield, M. Tinker","doi":"10.1115/detc2019-97952","DOIUrl":"https://doi.org/10.1115/detc2019-97952","url":null,"abstract":"\u0000 The Electric sail concept is based on a distributed tether satellite system with tether lengths on the order of thousands-of meters. The system must deploy from stowed arrangement into a selected flight configuration in which thrust forces are transmitted through the tether to the satellite body. The system must be stable through deployment procedure and maintain stable, desired configuration during flight operations. Understanding the dynamic behavior of the satellite bodies and distributed, conductive tether are critical to long-range design and development of the Electric Sail concept. This paper’s contribution is the presentation, development and validation of a mathematical model for simulating E-Sail deployment of a prototype system for testing on the MSFC Robotic Flat Floor Facility. A massed tether model is developed using the bead and string concept with equations of motion derived from Lagrange’s Method. The model is validated using infrared motion capture data produced by controlled experiments of a representative tether portion outfitted with IR targets. Further, a prototype is presented which will be used to investigate an E-Sail deployment approach and associated control. The design of this system will allow for deployment on specially designed flat floor facilities at MSFC. The prototype will be used to: 1) gather data for validation of system dynamic model, 2) evaluate alternative deployment strategies, 3) evaluate tether reel-out and damping control strategies.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116085372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Load-Flow Based Design of Compliant Mechanisms With Embedded Soft Actuators 基于负载流的嵌入式软执行机构设计

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98514

Sreekalyan Patiballa, Sreeshankar Satheeshbabu, Girish Krishnan

{"title":"Load-Flow Based Design of Compliant Mechanisms With Embedded Soft Actuators","authors":"Sreekalyan Patiballa, Sreeshankar Satheeshbabu, Girish Krishnan","doi":"10.1115/detc2019-98514","DOIUrl":"https://doi.org/10.1115/detc2019-98514","url":null,"abstract":"\u0000 Transmission members such as gears and linkages are ubiquitously used in mechatronic systems to tailor the performance of actuators. However, in most bio-inspired soft systems the actuation and transmission members are closely integrated, and sometimes indistinguishable. Embedded actuation is greatly advantageous for attaining high stroke and transferring large output forces. This paper attempts at a systematic synthesis of compliant systems with embedded contractile actuators and passive members to achieve a particular kinematic objective. The paper builds on recent understanding of a compliant mechanism topology where the constituent members can be functionally classified as load transferring transmitters and strain energy storing constraints. The functional equivalence between the transmitter members and actuators are used to replace transmitters in tension with contractile actuators, thus realizing a compliant embedded system. Once a single-input single-output compliant mechanism is designed, and its load flow behavior mapped, systematic guidelines and best practices are established for embedding actuators within the topology to increase performance without altering the kinematic behavior. Several examples, including a prototype that used soft pneumatic artificial muscles is presented to validate the synthesis framework. The initial results will form the basis for designing fully autonomous compliant systems with embedded actuators and sensors without the use of computationally expensive techniques.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130109697","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Online Trajectory Optimization for Legged Robotics Incorporating Vision for Dynamically Efficient and Safe Footstep Locations 基于视觉的足式机器人动态高效安全轨迹在线优化

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98039

Joshua Hooks, M. Ahn, D. Hong

引用次数: 1

Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism SAR天线展开机构同步关节设计与分析

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97845

Duanling Li, Dong Kaijie, Wang Xingze, Biao Li, Zhou Su

{"title":"Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism","authors":"Duanling Li, Dong Kaijie, Wang Xingze, Biao Li, Zhou Su","doi":"10.1115/detc2019-97845","DOIUrl":"https://doi.org/10.1115/detc2019-97845","url":null,"abstract":"\u0000 Synchronous joints are an important part of the SAR antenna deployment mechanism. They are the key to the synchronized deployment of antenna. By means of mechanism combination and deformation, a new type of synchronous joint with a precise cable drive system is designed in order to meet the requirements of SAR antenna deployment mechanism. This study mainly focuses on the design of the synchronous joint, including the system design and the precise cable drive system design. By applying a preload to the drive cable, the transmission gap is reduced, and the accuracy and efficiency of transmission are improved.\u0000 This paper focuses on the theoretical calculation and analysis of the preload and system stiffness of the precise cable drive system. Based on the Euler equation of the flexible friction drive, the stiffness formula of the cable drive system is derived. In addition, the main design parameters affecting the stiffness of the cable drive system are analyzed parametrically.\u0000 The comparison between the results obtained from the system stiffness experiment and the theoretical calculation result indicates that the experimental values are slightly smaller than the theoretical values, and the trend of change is basically consistent. This experiment therefore verifies the validity of the stiffness calculation formula and theoretical analysis.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133175125","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Design and Making of a Hand-Held Spillage-Free Specimen Retrieval Robot for Laparoscopic Surgery 手持式腹腔镜手术标本采集机器人的设计与制造

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/DETC2019-98134

Farid Tavakkolmoghaddam, Krishnanand N. Kaipa, Siqin Dong, M. Audette, T. Mesar, Eric Feliberti

引用次数: 0