一种受袋鼠启发的无约束跳跃机器人设计及控制器开发

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-9083

Austin Curtis, James A. Mynderse, H. Vejdani

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引用次数: 0

摘要

受袋鼠奔跑的敏捷性和机动性的启发，利用降阶模型来约束系统，开发了一个原型机器人。采用被动和主动模型来了解系统参数与步态性能之间的关系。为了量化设计参数与系统响应之间的关系，对样机进行了频率响应实验。此外，还对初步尾翼控制器进行了测试。在初始平台研究结果的基础上，设计并构建了一种新的机器人作为研究三维跳跃的平台。

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Design of a Kangaroo Inspired Hopping Robot for Unrestricted Locomotion and Controller Development

Inspired by the agility and maneuverability of running kangaroos, a prototype robot was developed using a reduced order model to constrain the system. Both passive and active models were used to understand the relationship between system parameters and gait performance. A frequency response experiment was performed on the prototype to quantify the relationship between design parameters and system responses. Additionally, preliminary tail controllers were tested. Based on the results of the initial platform, a new robot was designed and built as a platform for the study of three dimensional hopping.

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.