Stable walking dynamics in a semipassive biped

Semi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the exci...

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Autores:
Martínez Franco, Juan Camilo
Tipo de recurso:
Fecha de publicación:
2018
Institución:
Universidad de los Andes
Repositorio:
Séneca: repositorio Uniandes
Idioma:
eng
OAI Identifier:
oai:repositorio.uniandes.edu.co:1992/34707
Acceso en línea:
http://hdl.handle.net/1992/34707
Palabra clave:
Robots - Sistemas de control
Manipuladores (Mecanismo)
Ingeniería
Rights
openAccess
License
https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf
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spelling Al consultar y hacer uso de este recurso, está aceptando las condiciones de uso establecidas por los autores.https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdfinfo:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Rodríguez Herrera, Carlos Francisco63638f97-4774-42df-991e-7914bb94c9dc400Sánchez Urrutia, Victor José11117ee6-1f0c-4f8d-883b-89afaf8d539f500Martínez Franco, Juan Camilobbfe8a4c-40fe-4d38-a8e8-ce36a38c6f38500Barbieri, Giacomo2020-06-10T09:17:47Z2020-06-10T09:17:47Z2018http://hdl.handle.net/1992/34707u808336.pdfinstname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/Semi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the excitation frequency and amplitude on the stability of the walking cycle are determined. Both, simulation results and experimental tests, suggest that, for a given range of excitation frequencies, the robot exhibits attractive equilibrium as well as entrainment. In addition, strategies for startup, turning and stopping of the robot were explored, obtaining promising results. This work supports the possibility of developing a controllable underactuated robot with a comparatively low cost of transport.Se ha propuesto el uso de robots bípedos semi-pasivos para lograr una locomoción bípeda robusta y eficiente basada en la dinámica natural de los sistemas. En este trabajo se presenta y estudia un bípedo tipo compás con pies en forma de arco, actuado con un mecanismo tipo rocker. Inicialmente, se determina el efecto de la variación de la frecuencia y amplitud de excitación del sistema en la estabilidad del ciclo de caminata. Pruebas tanto experimentales como de simulación sugieren que para un rango de frecuencias, el robot exhibe equilibrio dinámico atractivo. Adicionalmente, se formularon estrategias para el arranque, parada y cambio de dirección del bípedo. Esto apoya la posibilidad de desarrollar un robot bípedo subactuado controlable con un bajo costo de transporte.Magíster en Ingeniería MecánicaMaestría33 hojasapplication/pdfengUniandesMaestría en Ingeniería MecánicaFacultad de IngenieríaDepartamento de Ingeniería Mecánicainstname:Universidad de los Andesreponame:Repositorio Institucional SénecaStable walking dynamics in a semipassive bipedTrabajo de grado - Maestríainfo:eu-repo/semantics/masterThesishttp://purl.org/coar/version/c_970fb48d4fbd8a85Texthttp://purl.org/redcol/resource_type/TMRobots - Sistemas de controlManipuladores (Mecanismo)IngenieríaPublicationTEXTu808336.pdf.txtu808336.pdf.txtExtracted texttext/plain34120https://repositorio.uniandes.edu.co/bitstreams/9e8fa584-4fd6-474f-bcc6-808bb284ff88/downloadf74165d43dfc2e36eac1c039457af66eMD54ORIGINALu808336.pdfapplication/pdf1137055https://repositorio.uniandes.edu.co/bitstreams/53173cc1-fcb1-4cb9-9278-0047a628fe32/download08b3112f54c0e7ad55f9d34ec1989d13MD51THUMBNAILu808336.pdf.jpgu808336.pdf.jpgIM Thumbnailimage/jpeg3269https://repositorio.uniandes.edu.co/bitstreams/36c9bba1-d3de-4cea-9c69-023b85c77f36/downloadbbc05faa7d5b3b28fc8b20152e10782dMD551992/34707oai:repositorio.uniandes.edu.co:1992/347072023-10-10 16:28:50.829https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdfopen.accesshttps://repositorio.uniandes.edu.coRepositorio institucional Sénecaadminrepositorio@uniandes.edu.co
dc.title.es_CO.fl_str_mv Stable walking dynamics in a semipassive biped
title Stable walking dynamics in a semipassive biped
spellingShingle Stable walking dynamics in a semipassive biped
Robots - Sistemas de control
Manipuladores (Mecanismo)
Ingeniería
title_short Stable walking dynamics in a semipassive biped
title_full Stable walking dynamics in a semipassive biped
title_fullStr Stable walking dynamics in a semipassive biped
title_full_unstemmed Stable walking dynamics in a semipassive biped
title_sort Stable walking dynamics in a semipassive biped
dc.creator.fl_str_mv Martínez Franco, Juan Camilo
dc.contributor.advisor.none.fl_str_mv Rodríguez Herrera, Carlos Francisco
Sánchez Urrutia, Victor José
dc.contributor.author.none.fl_str_mv Martínez Franco, Juan Camilo
dc.contributor.jury.none.fl_str_mv Barbieri, Giacomo
dc.subject.keyword.es_CO.fl_str_mv Robots - Sistemas de control
Manipuladores (Mecanismo)
topic Robots - Sistemas de control
Manipuladores (Mecanismo)
Ingeniería
dc.subject.themes.none.fl_str_mv Ingeniería
description Semi-passive biped robots have been proposed to achieve efficient and robust bipedal locomotion, based on their natural dynamics. In this work, a compass biped with arc shape feet, actuated by a rocker mechanism on the hip is presented and studied. Initially, the effects of the variation of the excitation frequency and amplitude on the stability of the walking cycle are determined. Both, simulation results and experimental tests, suggest that, for a given range of excitation frequencies, the robot exhibits attractive equilibrium as well as entrainment. In addition, strategies for startup, turning and stopping of the robot were explored, obtaining promising results. This work supports the possibility of developing a controllable underactuated robot with a comparatively low cost of transport.
publishDate 2018
dc.date.issued.none.fl_str_mv 2018
dc.date.accessioned.none.fl_str_mv 2020-06-10T09:17:47Z
dc.date.available.none.fl_str_mv 2020-06-10T09:17:47Z
dc.type.spa.fl_str_mv Trabajo de grado - Maestría
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identifier_str_mv u808336.pdf
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dc.language.iso.es_CO.fl_str_mv eng
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dc.publisher.program.es_CO.fl_str_mv Maestría en Ingeniería Mecánica
dc.publisher.faculty.es_CO.fl_str_mv Facultad de Ingeniería
dc.publisher.department.es_CO.fl_str_mv Departamento de Ingeniería Mecánica
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