Optimal Protraction of a Three-Joint Robot Leg
نویسندگان
چکیده
In this paper protraction movement, namely stepping ahead, of a three joint robot leg is optimized for energy efficiency for any given pair of initial-final tip point positions. For the optimization a modified version of gradient descent based optimal control algorithm with Hamiltonian formulation is used. The objective function is modified in steps to jump over the infeasible and inefficient local optimums. The results of 79 optimizations are used to construct a radial basis function neural network (RBFNN) in order to interpolate between the optimized trajectories. The results are presented and discussed in the paper.
منابع مشابه
Fuzzy Controller Design for a Three Joint Robot LEG in Protraction Phase - An Optimal Behavior Inspired Fuzzy Controller Design
A fuzzy controller design is performed for a three joint robot leg in protraction phase. The aim is to develop a controller to carry the tip point to any given destination. The design is based on the inspirations derived from optimal behaviors of the leg. The optimal trajectories are obtained by using optimization methods utilizing “numerical gradient” and “optimal control” successively. Separa...
متن کاملConceptual Design of a Gait Rehabilitation Robot
Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...
متن کاملEnergy Dissipation Rate Control Via a Semi-Analytical Pattern Generation Approach for Planar Three-Legged Galloping Robot based on the Property of Passive Dynamic Walking
In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...
متن کاملStick Insect Locomotion on a Walking Wheel: Interleg Coordination of Leg Position
Continuous measurements of anterior-posterior leg position recorded from stick insects walking on a wheel were tested for relationships among spatial and temporal parameters of leg coordination. This analysis revealed that the protraction of middle and rear legs is guided by the ipsilateral front and middle legs respectively. Protraction endpoint for each rear leg shows a significant positive c...
متن کاملCONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2008