Control Power Reduction and Frequency Bandwidth Enlargement of Robotic Legs by Nonlinear Resonance

Cited 2 time in webofscience Cited 0 time in scopus
  • Hit : 70
  • Download : 0
Legged robots are regarded as a new means for transportation at uneven terrains and dangerous situations. In particular, quadruped robots that are capable of high-speed running are receiving great attention due to their superior mobility. The legs of such high-speed running robots rapidly repeat the swing and stance motions. Therefore, the legs of high-speed running robots should exhibit low impedance and friction for fast swing motions, while it is required to produce a significantly large actuation force for propulsion of the robot body in a stance phase. For this purpose, a direct-driven actuation mechanism was proposed for the Cheetaroid robot in our previous work. In this paper, in order to further enlarge the frequency bandwidth of the leg module and to reduce the required control (i.e., actuation) power, a dual-stage spring is designed to introduce a motion-adaptive resonance into the system. The structure and parameters of the dual-stage spring are determined in an optimal manner to minimize the control power. The resonance due to the dual-stage spring occurs only during highspeed locomotion, since the overall mechanism is designed such that the spring force is applied to the leg for high-speed locomotion only. The proposed system is verified by simulation studies and experimental results in this paper.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2015-10
Language
English
Article Type
Article
Citation

IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.20, no.5, pp.2340 - 2349

ISSN
1083-4435
DOI
10.1109/TMECH.2014.2376564
URI
http://hdl.handle.net/10203/250039
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 2 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0