Controlling a low cost bang bang pneumatic monopod
نویسندگان
چکیده
To date there have been great advances in the legged robotics community. However, these platforms are extremely costly to develop and require complex controllers perform agile motion, limiting their research well funded institutions, or purely simulation based studies. This focuses on an low cost robotic monopod platform that consists of a high powered servo motor as pneumatic actuator. Due on/off (bang bang) nature pneumatics, is challenging mathematically model. Using reduced order model actuator, trajectory optimization methods were implemented generate acceleration, steady-state deceleration trajectories. These then analyzed simple state machine controller was developed implement trajectories platform, with comparisons results. In test capabilities robot, above method further extended robot running multiple different surfaces (hard surface two gravel surfaces). Results promising reveal models sufficient stable transient motions for non-uniform terrain.
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ژورنال
عنوان ژورنال: Africa research journal
سال: 2022
ISSN: ['1991-1696']
DOI: https://doi.org/10.23919/saiee.2022.9945866