Abstract
Legged robots represent the bio-inspired family of robotic devices which has to perform the most complex dynamic tasks. It is essential for them to walk in unstructured terrains, carry heavy loads, climb hills and run up to a certain speed. A complete understanding of these performances and their optimization should involve both the control and the mechanics which has been ignored by robotic researchers for years. The solution we propose is a tradeoff between control and mechanics based on the Virtual Prototype Design Method. We build a simplified numerical model of a quadruped leg based on a hierarchial architecture. The proposed model is validated by comparing the numerical solution and the physical results coming from an extended campaign of experimental tests.
Keywords
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Sugiyama, Y., Hirai, S.: Crawling and jumping by a deformable robot. The International Journal of Robotics Research 25(5-6), 603–620 (2006)
Mikołajewska, E., Mikołajewski, D.: Exoskeletons in neurological diseases-current and potential future applications. Adv. Clin. Exp. Med. 20(2), 227–233 (2011)
Aach, M., Meindl, R., Hayashi, T., Lange, I., Geßmann, J., Sander, A., Nicolas, V., Schwenkreis, P., Tegenthoff, M., Sankai, Y., et al.: Exoskeletal neuro-rehabilitation in chronic paraplegic patients–initial results. In: Converging Clinical and Engineering Research on Neurorehabilitation, pp. 233–236. Springer (2013)
Semini, C.: Hyq-design and development of a hydraulically actuated quadruped robot. PD Thesis, University of Genoa, Italy (2010)
Dynamics, B.: Ls3: Legged squad support system (2012)
Lee, D.V., Biewener, A.A.: Bigdog-inspired studies in the locomotion of goats and dogs. Integrative and Comparative Biology 51(1), 190–202 (2011)
Moro, F.L., Tsagarakis, N.G., Caldwell, D.G.: A human-like walking for the compliant humanoid coman based on com trajectory reconstruction from kinematic motion primitives. In: 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 364–370. IEEE (2011)
Edwards, L.: Petman robot to closely simulate soldiers (2010)
Cham, J.G., Karpick, J.K., Cutkosky, M.R.: Stride period adaptation of a biomimetic running hexapod. The International Journal of Robotics Research 23(2), 141–153 (2004)
Klaassen, B., Linnemann, R., Spenneberg, D., Kirchner, F.: Biologically inspired robot design and modeling. In: Proceedings of the ICAR 2003–11th International Conference on Advanced Robotics, pp. 576–581 (2003)
Raibert, M., Blankespoor, K., Nelson, G., Playter, R., et al.: Bigdog, the rough-terrain quadruped robot. In: Proceedings of the 17th World Congress, pp. 10823–10825 (2008)
Semini, C., Tsagarakis, N.G., Guglielmino, E., Focchi, M., Cannella, F., Caldwell, D.G.: Design of hyq–a hydraulically and electrically actuated quadruped robot. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 225(6), 831–849 (2011)
Lewis, M.A., Bunting, M.R., Salemi, B., Hoffmann, H.: Toward ultra high speed locomotors: design and test of a cheetah robot hind limb. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 1990–1996. IEEE (2011)
Hogan, N.: Impedance control: An approach to manipulation. In: American Control Conference, pp. 304–313. IEEE (1984)
Rampalli, R., Ferrarotti, G., Hoffmann, M.: Why Do Multi-Body System Simulation? (2012)
Guglielmino, E., Cannella, F., Semini, C., Caldwell, D.G., Rodríguez, N.E.N., Vidal, G.: A vibration study of a hydraulically-actuated legged machine. In: ASME 2010 (2010)
Bucalem, M.L., Bathe, K.: The mechanics of solids and structures-hierarchical modeling and the finite element solutions. Springer (2011)
Priestley, M., Grant, D.: Viscous damping in seismic design and analysis. Journal of Earthquake Engineering 9(spec02), 229–255 (2005)
Meirovitch, L.: Analytical Methods in Vibrations. Macmillan (1967)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
D’Imperio, M., Cannella, F., Chen, F., Catelani, D., Semini, C., Caldwell, D.G. (2014). Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design. In: Duff, A., Lepora, N.F., Mura, A., Prescott, T.J., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2014. Lecture Notes in Computer Science(), vol 8608. Springer, Cham. https://doi.org/10.1007/978-3-319-09435-9_6
Download citation
DOI: https://doi.org/10.1007/978-3-319-09435-9_6
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09434-2
Online ISBN: 978-3-319-09435-9
eBook Packages: Computer ScienceComputer Science (R0)