prikaz prve stranice dokumenta Hybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot
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doctoral thesis
Hybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:747123
Kočo, Edin
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

Cite this document

Kočo, E. (2017). Hybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:747123

Kočo, Edin. "Hybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:747123

Kočo, Edin. "Hybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:747123

Kočo, E. (2017). 'Hybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:747123

Kočo E. Hybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:168:747123

E. Kočo, "Hybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:747123

Metadata
TitleHybrid compliance control and feet trajectory optimization for a bioinspired quadruped robot
Title (croatian)Hibridno upravljanje podatnošću i optimizacija trajektorije stopala za biološki inspiriranoga četveronožnoga robota
AuthorEdin Kočo
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2017, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Universal decimal classification
(UDC)		621.3 - Electrical engineering
Abstract
Modern quadruped robots are facing a real challenge to perform dynamic locomotion on rugged and unpredictable terrain. Unlike on flat terrain, when performing locomotion on rugged terrain, very little can be assumed or predicted on robot's behavior. In order to make our robots capable of navigating rough terrain, we can search for inspiration in nature by witnessing how animals preform fast and efficient locomotion on various terrain types. The nature teaches us how the soft interaction with the environment yields various beneficial characteristics in terms of stability, speed and efficiency which enable the biological systems to gracefully move on harsh terrain. Therefore we can conclude that compliance, either passive (formed by elastic tendons) or active (through muscle modulation), serves as important concern when designing, manufacturing and controlling legged robots. In this thesis we propose a hybrid compliance control system for a stiff-by-nature quadruped robot comprising active and variable passive compliance control parts and show how it can improve the performance of locomotion under moderate external disturbances. The observed robotic system integrates high gear ratio DC motors making the whole mechanism stiff and inconvenient for use for rugged terrain locomotion while subjected to unknown disturbances. To tackle this problem we have installed small and durable foot force sensors to sense the Ground Reaction Forces (GRF) in order to emulate compliant behavior using virtual springs. The robot leg design also integrates a mechanical implant allowing the robot to alter the passive compliance of the legs on-the-fly. The variable passive compliance ensures the filtering of sudden impacts during locomotion while the active compliance allows for lower bandwidth compliance control for locomotion purposes. Mathematical modeling and simulation analysis is conducted in order to identify the performance of the proposed system. We show how the derived compliance controllers can be used in synergy with foot trajectories in order to achieve arbitrary gaits. Finally we present a general framework for determining the parameters of foot trajectories through a multiobjective genetic algorithm optimization procedure based on maximization of locomotion speed and the minimization of consumed energy. Application of such framework leads to solutions that exhibit behaviors often seen in nature.
Abstract (croatian)
Velik izazov u upravljanju četveronožnim robotima je ostvarivanje dinamičnih gibanja po nepristupačnim i nepredvidljivim terenima. Za razliku od ravnih terena, prilikom gibanja po neravnom terenu malo se toga može pretpostaviti ili predvidjeti o radnjama koje treba napraviti kako bi takvo gibanje bilo stabilno. Kako bi riješili ovaj problem, znanstvenici često traže motivaciju u prirodi, promatrajući kako životinje uspješno ostvaruju brzo i energetski efikasno kretanje po različitim konfiguracijama terena. Priroda nas uči kako podatna interakcija organizama sa svojom okolinom povoljno utječe na karakteristike gibanja u pogledu stabilnosti, brzine kretanja te efikasnosti i omogućuje im da s lakoćom savladavaju nepristupačne terene. Stoga se zaključuje da podatnost, bilo pasivna (kroz tetive) ili aktivna (kroz modulaciju mišićima), postaje nužna karakteristika koju je potrebno uzeti u obzir prilikom dizajniranja, izrade i upravljanja robotskim hodačima. U okviru disertacije prikazuje se hibridni sustav upravljanja podatnosti čvrsto aktuiranog četveronožnog hodača koji se sastoji od aktivnog i promjenjivog pasivnog dijela te je pokazano kako ovakav koncept upravljanja podatnosti poboljšava karakteristike kretanja robotskog hodača pri umjerenim vanjskim smetnjama. Promatrani robotski hodač posjeduje DC motore s velikim prijenosnim omjerom koji rezultira vrlo čvrsto aktuiranim zglobovima. Kako bi se robotska konstrukcija učinila mekšom, na robotskog hodača ugrađeni su senzori sile koji detektiraju prirodu kontakta s podlogom te aktivno upravljaju aktuatorima hodača na temelju koncepta virtualnih opruga. Ovakav način upravljanja ostvaruje podatno ponašanje robota u području nižih frekvencija sumjerljivih s frekvencijama gibanja robota. Kako bi se povećalo frekvencijsko područje djelovanja podatnosti, u robotske noge hodača ugrađen je novodizajnirani element koji omogućuje promjenu pasivne podatnosti. Element se zasniva na principu strukturne podatnosti kroz djelovanje spiralne opruge čijom se rotacijom omogućuje promjena parametara podatnosti u identificiranom rasponu. Ovakav element posjeduje mnoga poboljšanja u odnosu na slična rješenja u pogledu jednostavnosti, izdržljivosti i područja djelovanja. U okviru disertacije matematički je modelirano ponašanje robota temeljeno na poznatom SLIP (engl. Spring Loaded Inverted Pendulum) modelu koji omogućuje identificiranje frekvencije skakanja robota u ovisnosti o parametrima podatnosti promjenjivo pasivnog elementa i podatnosti podloge. Sustav hibridne podatnosti je matematički modeliran kako bi se identificirala njegova svojstva. U konačnici je predložena struktura upravljanja gibanjem ovakvog hodača te je prezentirana metodologija provedbe optimizacije parametara gibanja robotskog hodača koja ostvaruje maksimizaciju brzine gibanja uz minimizaciju utroška energije.
Keywords
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:168:747123
Study programmeTitle: Electrical Engineering and Computing
Study programme type: university
Study level: postgraduate
Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
Type of resourceText
Extent205 str. ; 30 cm.
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2019-04-05 14:02:48