Trajectory Control Based on Discrete Full-Range Dynamics

N; an Maheshwari; Keith Gunura; Fumiya Iida

doi:10.20965/jrm.2012.p0612

single-rb.php

« previous

JRM Vol.24 No.4 pp. 612-619

doi: 10.20965/jrm.2012.p0612

(2012)

Paper:

Views over last 60 days: 889

Trajectory Control Based on Discrete Full-Range Dynamics

Nandan Maheshwari, Keith Gunura, and Fumiya Iida

Bio-Inspired Robotics Lab., Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology Zurich, Leonhardstrasse 27, CH-8092 Zurich, Switzerland

Received:

January 15, 2012

Accepted:

May 2, 2012

Published:

August 20, 2012

Keywords:

intelligent mechatronics and application, biomimetic systems, mechanical dynamics, actuator design, novel actuator systems

Abstract

There has been an increasing interest in the use of mechanical dynamics, (e.g., passive, elastic, and viscous dynamics) for energy efficient and agile control of robotic systems. Despite the impressive demonstrations of behavioural performance, the mechanical dynamics of this class of robotic systems is still very limited as compared to those of biological systems. For example, passive dynamic walkers are not capable of generating joint torques to compensate for disturbances from complex environments. In order to tackle such a discrepancy between biological and artificial systems, we present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. As a result, the system is capable of a large variety of joint operations, including dynamic switching among passive, actuated and rigid modes. The main innovation of this paper is the framework and algorithm developed for controlling the trajectory of such joint. We present different control strategies that exploit passive dynamics. Simulation results demonstrate a significant improvement in motion control with respect to the speed of motion and energy efficiency. The actuator is implemented in a simple pendulum platform to quantitatively evaluate this novel approach.

Cite this article as:

N. Maheshwari, K. Gunura, and F. Iida, “Trajectory Control Based on Discrete Full-Range Dynamics,” J. Robot. Mechatron., Vol.24 No.4, pp. 612-619, 2012.

Data files:

References

[1] T. McGeer, “Passive Dynamic Walking,” The Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
[2] S. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient bipedal robots based on passive dynamic walkers,” Science, Magazine, Vol.307, pp. 1082-1085, 2005.
[3] A. D. Kuo, “Choosing Your Steps Carefully Trade-Offs Between Economy and Versatility in Dynamic Walking Bipedal Robots,” IEEE Robotics and Automation Magazine, 1070-9932/07, pp. 18-29, 2007.
[4] M. van Wisse and J. Frankenhuyzen, “Design and construction of mike: A 2D autonomous biped based on passive dynamic walking,” Proc. of the Second Int. Symposium on Adaptive Motion of Animals and Machines, Kyoto, Japan, March 2003.
[5] S. Collins, M. Wisse, and A. Ruina, “A 3-D passive dynamic walking robot with two legs and knees,” The Int. J. of Robotics Research, Vol.20, No.7, pp. 607-615, 2001.
[6] K. Trifonov and S. Hashimoto, “Design and Development of a Knee Mechanism for a Passive-Dynamic Walker,” J. of Advanced Mechanical Design, Systems, and Manufacturing, Vol.3, No.1, pp. 76-84, 2009.
[7] R. Blickhan, “The spring-mass model for running and hopping,” J. Biomechanics, Vol.22, pp. 1217-1227, 1989.
[8] R. M. Alexander, “Three Uses for Springs in Legged Locomotion,” The Int. J. of Robotics Research, Vol.9, No.2, pp. 53-61, 1990.
[9] T. A. McMahon, C. Secchi, and C. Fantuzzi, “The Mechanics of Running: How Does Stiffness Couple with Speed,” J. Biomechanics, Vol.23, Suppl. 1, pp. 65-78, 1990.
[10] E. Todorov, “Review: Optimality principles in sensorimotor control,” Nature Neuroscience, Vol.7, No.9, pp. 907-915, 2004.
[11] I. Fantoni and R. Lozano, “Non-linear Control for Underactuated Mechanical Systems,” Springer Press, 2002. ISBN: 1-85233-423-1
[12] S. Stramigiori and G. C. Cheng, “Compensation of position errors in passivity based teleoperation over packet switched communication networks,” Proc. of the 17th World Congress, The Int. Federation of Automatic Control, pp. 15648-15653, 1990.
[13] R. van Ham, B. Vanderborght, M. van Damme, B. Verrelst, and D. Lefeber, “MACCEPA, the mechanically adjustable complianceand controllable equilibrium position actuator: Design and implementation in a biped robot,” Robotics and Autonomous Systems, Vol.55, pp. 761-768, 2007.
[14] J. W. Hurst, J. E. Chestnutt, and A. A. Rizzi, “An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion,” Proc. IEEE Int. Conf. on Robotics and Automation, 2004.
[15] T. Matsuda and S. Murata, “Stiffness Distribution Control Locomotion of Closed Link Robot with Mechanical Softness,” Proc. IEEE Int. Conf. on Robotics and Automation, 2006.
[16] A. G. Pratt and M. M. Williamson, “Series Elastic Actuators,” IEEE, pp. 399-406, 1995. ISBN: 0-08186-7108
[17] B. Bigge and I. R. Harvey, “Programmable springs: Developing actuators with programmable compliance for autonomous robots,” Robotics and Autonomous Systems, Vol.55, No.9, pp. 728-734, 2007.
[18] S. K. Byeong, J. P. Jung, and B. S. Jae, “A Serial-Type Dual Actuator Unit With Planetary Gear Train: Basic Design and Applications,” IEEE/ASME Trans. on Mechatronics, Vol.15, 2007.
[19] A. Hirohiko and T. Susumu, “Position Control of a Manipulator with Passive Joints Using Dynamic Coupling,” IEEE Trans. on Robotics and Automation, Vol.7, 1991.
[20] M. Vukobratovic and D. Stokic, “Is Dynamic Control Needed in Robotic Systems, and, if So, to What Extent?,” The Int. J. of Robotics Research, Vol.2, No.2, 1983.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. McGeer, “Passive Dynamic Walking,” The Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.

[2] [2] S. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient bipedal robots based on passive dynamic walkers,” Science, Magazine, Vol.307, pp. 1082-1085, 2005.

[3] [3] A. D. Kuo, “Choosing Your Steps Carefully Trade-Offs Between Economy and Versatility in Dynamic Walking Bipedal Robots,” IEEE Robotics and Automation Magazine, 1070-9932/07, pp. 18-29, 2007.

[4] [4] M. van Wisse and J. Frankenhuyzen, “Design and construction of mike: A 2D autonomous biped based on passive dynamic walking,” Proc. of the Second Int. Symposium on Adaptive Motion of Animals and Machines, Kyoto, Japan, March 2003.

[5] [5] S. Collins, M. Wisse, and A. Ruina, “A 3-D passive dynamic walking robot with two legs and knees,” The Int. J. of Robotics Research, Vol.20, No.7, pp. 607-615, 2001.

[6] [6] K. Trifonov and S. Hashimoto, “Design and Development of a Knee Mechanism for a Passive-Dynamic Walker,” J. of Advanced Mechanical Design, Systems, and Manufacturing, Vol.3, No.1, pp. 76-84, 2009.

[7] [7] R. Blickhan, “The spring-mass model for running and hopping,” J. Biomechanics, Vol.22, pp. 1217-1227, 1989.

[8] [8] R. M. Alexander, “Three Uses for Springs in Legged Locomotion,” The Int. J. of Robotics Research, Vol.9, No.2, pp. 53-61, 1990.

[9] [9] T. A. McMahon, C. Secchi, and C. Fantuzzi, “The Mechanics of Running: How Does Stiffness Couple with Speed,” J. Biomechanics, Vol.23, Suppl. 1, pp. 65-78, 1990.

[10] [10] E. Todorov, “Review: Optimality principles in sensorimotor control,” Nature Neuroscience, Vol.7, No.9, pp. 907-915, 2004.

[11] [11] I. Fantoni and R. Lozano, “Non-linear Control for Underactuated Mechanical Systems,” Springer Press, 2002. ISBN: 1-85233-423-1

[12] [12] S. Stramigiori and G. C. Cheng, “Compensation of position errors in passivity based teleoperation over packet switched communication networks,” Proc. of the 17th World Congress, The Int. Federation of Automatic Control, pp. 15648-15653, 1990.

[13] [13] R. van Ham, B. Vanderborght, M. van Damme, B. Verrelst, and D. Lefeber, “MACCEPA, the mechanically adjustable complianceand controllable equilibrium position actuator: Design and implementation in a biped robot,” Robotics and Autonomous Systems, Vol.55, pp. 761-768, 2007.

[14] [14] J. W. Hurst, J. E. Chestnutt, and A. A. Rizzi, “An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion,” Proc. IEEE Int. Conf. on Robotics and Automation, 2004.

[15] [15] T. Matsuda and S. Murata, “Stiffness Distribution Control Locomotion of Closed Link Robot with Mechanical Softness,” Proc. IEEE Int. Conf. on Robotics and Automation, 2006.

[16] [16] A. G. Pratt and M. M. Williamson, “Series Elastic Actuators,” IEEE, pp. 399-406, 1995. ISBN: 0-08186-7108

[17] [17] B. Bigge and I. R. Harvey, “Programmable springs: Developing actuators with programmable compliance for autonomous robots,” Robotics and Autonomous Systems, Vol.55, No.9, pp. 728-734, 2007.

[18] [18] S. K. Byeong, J. P. Jung, and B. S. Jae, “A Serial-Type Dual Actuator Unit With Planetary Gear Train: Basic Design and Applications,” IEEE/ASME Trans. on Mechatronics, Vol.15, 2007.

[19] [19] A. Hirohiko and T. Susumu, “Position Control of a Manipulator with Passive Joints Using Dynamic Coupling,” IEEE Trans. on Robotics and Automation, Vol.7, 1991.

[20] [20] M. Vukobratovic and D. Stokic, “Is Dynamic Control Needed in Robotic Systems, and, if So, to What Extent?,” The Int. J. of Robotics Research, Vol.2, No.2, 1983.