Open AccessControl of a one-legged robot with energy savings
Author(s) -
A. Schammass,
Glauco Augusto de Paula Caurin,
C.M.O. Valente
Publication year - 2001
Publication title -
revista brasileira de ciências mecânicas
Language(s) - English
Resource type - Journals
ISSN - 0100-7386
DOI - 10.1590/s0100-73862001000100004
Subject(s) - benchmark (surveying) , swing , simplicity , computer science , energy (signal processing) , robot , legged robot , control theory (sociology) , simulation , trajectory , work (physics) , exploit , hinge , orientation (vector space) , simple (philosophy) , actuator , control (management) , engineering , artificial intelligence , mathematics , mechanical engineering , philosophy , statistics , physics , geometry , geodesy , epistemology , computer security , astronomy , geography
This paper presents a new strategy to control an one-legged robot aiming to reduce the energy expended by the system. To validate this algorithm, a classic method as benchmark was used. This method has been extensively validated by simulations and experimental prototypes in the literature. For simplicity reasons, the work is restricted to the two dimensional case due to simplicity reasons. This new method is compared to the classic one with respect to performance and energy expended by the system. The model consists on a springy leg, a simple body, and an actuated hinge-type hip. The new control strategy is composed of three parts, considering the hopping height, the forward speed, and the body orientation separately. The method exploits the system passive dynamics, defined as non-forced response of the system. In this case, the model is modified adding a spring to the hip. The method defines a desired leg trajectory close to the passive hip swing movement. Simulation results for both methods are analyzed and compared