Naslov
Setting Objective Parameters of a Hopping Robot Based on Power Consumption

Autori
Terze, Zdravko ; Lefeber, Dirk ; Vermeulen, Jimmy ; De Man, Hans

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the First International Symposium on Mobile, Climbing and Walking Robots, CLAWAR' 98 / Baudoin, Y - Brisel, 1998, 297-302

Skup
First International Symposium on Mobile, Climbing and Walking Robots, CLAWAR' 98

Mjesto i datum
Bruxelles, Belgija, 26.11.1998. - 28.11.1998

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Sažetak
A procedure for setting objective parameters (forward velocity, step length, jumping height, angular momentum, take-off and landing kinematic configuration) for a mechanical prototype of a hopping robot with articulated leg is presented. The goal is to obtain the robot's energy efficient locomotion on irregular terrain using torque and power limited electric actuators, as well as tuned passive actuation. The prototype weights 11.7 kg and consists of an upper body of 0.6 m and upper and lower leg of 0.3 m. The algorithm is based on a close examination of the machine's passive dynamic behaviour throughout a specific range of investigated locomotion patterns. By an adjustment of the robot's passive motion the desired objective parameters are attained using as small actuation as possible. This approach enables the control of the robot's motion while adjusting the machine step length up to 0.5 m and forward velocity up to 0.9 m/s, whereas the driving torques and power supply are limited to ą 40 Nm and 400 W, respectively. The maximum driving torques and the maximum power consumption is well within the range of the specifications of the prototype's built in actuators.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA