Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-18T10:00:08.010Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematic and dynamic performance analysis of artificial legged systems

Published online by Cambridge University Press:  01 January 2008

Manuel F. Silva  and
J. A. Tenreiro Machado
Manuel F. Silva*
Affiliation:
Department of Electrical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 4200-072 Porto, Portugal.
J. A. Tenreiro Machado
Affiliation:
Department of Electrical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 4200-072 Porto, Portugal.
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion systems based on its kinematic and dynamic models. The purpose is to determine the system performance during walking, and the best set of locomotion variables that minimize a set of optimization indices. In this perspective, two kinematic and four dynamic indices are formulated to quantitatively measure the performance of the walking robot. The kinematic indices consist of the perturbation analysis and the locomobility measure, and the dynamic performance indices of the walking robot locomotion are the mean absolute density of energy, the mean power density dispersion, the density of power lost and the mean force at the body-legs interface. A set of model-based simulation experiments reveals the system configuration and the type of movements that lead to a better performance, for a specific locomotion mode, from the viewpoint of the proposed indices.

Keywords

RoboticsWalkingLegged locomotionDynamic modellingKinematicsSimulation
Type
Article
Information
Robotica , Volume 26 , Issue 1 , January 2008 , pp. 19 - 39
Copyright
Copyright © Cambridge University Press 2007

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Alexander, R. McN, “The gaits of bipedal and quadrupedal animals,” Int. J. Robot. Res. 3 (2), 49–59 (1984).CrossRefGoogle Scholar
Alexander, R. McN, “Three uses for springs in legged locomotion,” Int. J. Robot. Res. 9 (2), 53–61 (1990).CrossRefGoogle Scholar
Briskin, E. S., Chernyshev, V. V. and Maloletov, A. V., “On Conception of Walking Machines Designing,” Proceedings of the 11th International Conference on Advanced Robotics (2003) pp. 1763–1768.Google Scholar
Campbell, D. and Buehler, M. “Stair Descent in the Simple Hexapod ‘RHex’,” Proceedings of the 2003 IEEE International Conference on Robotics and Automation (2003) pp. 1380–1385.Google Scholar
Cham, J. G., Bailey, S. A., Clark, J. E., Full, R. J. and Cutkosky, M. R., “Fast and robust: Hexapedal robots via shape deposition manufacturing,” Int. J. Robot. Res. 21 (10–11), 869–882 (2002).CrossRefGoogle Scholar
Farritor, S., Dubowsky, S., Rutman, N. and Cole, J., “A systems-level modular design approach to field robotics,” Proceedings of the 1996 IEEE International Conference on Robotics and Automation (1996) pp. 2890–2895.Google Scholar
Fedak, M. A., Heglund, N. C. and Taylor, C. R., “Energetics and mechanics of terrestrial locomotion: II. Kinetic energy changes of the limbs and body as a function of speed and body size in birds and mammals,” J. Exp. Biol. 79, 23–40 (1982).CrossRefGoogle Scholar
Gabrielli, G. and Von Kármán, T., “What price speed? Specific power required for propulsion of vehicles,” Mech. Eng., 775–781 (1950).Google Scholar
Garcia, E. and deSantos, P. G. Santos, P. G., “An improved energy stability margin for walking machines subject to dynamic effects,” Robotica 23 (1), 13–20 (2005).CrossRefGoogle Scholar
Habumuremyi, J.-C. and Doroftei, I., “Mechanical Design and MANFIS Control of a Leg for a New Demining Walking Robot,” Proceedings of the 4th International Conference on Climbing and Walking Robots (2001) pp. 457–464.Google Scholar
Heglund, N. C., Cavagna, G. A. and Taylor, C. R., “Energetics and mechanics of terrestrial locomotion: III. Energy changes of the centre of mass as a function of speed and body size in birds and mammals,” J. Exp. Biol. 79, 41–56 (1982).CrossRefGoogle Scholar
Hirose, S., Yoneda, K. and Tsukagoshi, H., “TITAN VII: Quadruped Walking and Manipulating Robot on a Steep Slope,” Proceedings of the 1997 IEEE International Conference on Robotics and Automation (1997) pp. 494–500.Google Scholar
Hirose, S. and Arikawa, K., “Coupled and Decoupled Actuation of Robotic Mechanisms,” Proceedings of the 2000 IEEE International Conference on Robotics and Automation (2000) pp. 33–39.Google Scholar
Ishiguro, A., Kawasumi, K. and Fujii, A., “Increasing Evolvability of a Locomotion Controller Using a Passive-Dynamic-Walking Embodiment,” Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (2002) pp. 2581–2586.Google Scholar
Juárez-Guerrero, J., Muñoz-Gutiérrez, S. and MayolCuevas, W. W. Cuevas, W. W., “Design of a Walking Machine Structure Using Evolutionary Strategies,” Proceedings of the 1998 IEEE International Conference on Systems, Man and Cybernetics (1998) pp. 1427–1432.Google Scholar
Kajita, S., Nagasaki, T., Yokoi, K., Kaneko, K. and Tanie, K., “Running Pattern Generation for a Humanoid Robot,” Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002) pp. 2755–2761.Google Scholar
Kang, T., Kim, H., Son, T. and Choi, H., “Design of Quadruped Walking and Climbing Robot,” Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (2003) pp. 619–624.Google Scholar
Koyachi, N., Arai, T., Adachi, H., Murakami, A. and Kawai, K., “Mechanical Design of Hexapods With Integrated Limb Mechanism: MELMANTIS-1 and MELMANTIS-2,” Proceedings of 8th International Conference on Advanced Robotics (1997) pp. 273–278.Google Scholar
Kram, R., Wong, B. and Full, R. J., “Three-dimensional kinematics and limb kinetic energy of running cockroaches,” J. Exp. Biol. 200, 1919–1929 (1997).CrossRefGoogle ScholarPubMed
Laksanacharoen, S., Pollack, A. J., Nelson, G. M., Quinn, R. D. and Ritzmann, R. E., “Biomechanics and Simulation of Cricket for Microrobot Design,” Proceedings of the 2000 IEEE International Conference on Robotics and Automation (2000) pp. 1088–1094.Google Scholar
Lapshin, V. V., “Energy Consumption of a Walking Machine. Model Estimations and Optimization,” Proceedings of the 7th International Conference on Advanced Robotics (1995) pp. 420–425.Google Scholar
Lasa, M. de and Buehler, M., “Dynamic Compliant Quadruped Walking,” Proceedings of the 2001 IEEE International Conference on Robotics and Automation (2001) pp. 3153–3158.Google Scholar
Leger, C., DARWIN2K—An Evolutionary Approach to Automated Design for Robotics (Kluwer, New York, 2000).Google Scholar
Linde, R. Q. van der, “Active Leg Compliance for Passive Walking,” Proceedings of the 1998 IEEE International Conference on Robotics and Automation (1998) pp. 2339–2344.Google Scholar
Marhefka, D. W. and Orin, D. E., “Gait Planning for Energy Efficiency in Walking Machines,” Proceedings of the 1997 IEEE International Conference on Robotics and Automation (1997) pp. 474–480.Google Scholar
Moore, E. Z., Campbell, D., Grimminger, F. and Buehler, M., “Reliable Stair Climbing in the Simple Hexapod ‘RHex’,” Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002) pp. 2222–2227.Google Scholar
Neuhaus, P. and Kazerooni, H., “Design and Control of Human Assisted Walking Robot,” Proceedings of the 2000 IEEE International Conference on Robotics and Automation (2000) pp. 563–569.Google Scholar
Pedroche, T. A. G., Ruiz, M. A. J. and Santos, P. G. de, “A Detailed Power Consumption Model for Walking Robots,” Proceedings of the 6th International Conference on Climbing and Walking Robots (2003) pp. 235–242.Google Scholar
Saranli, U., Buehler, M. and Koditschek, D. E., “RHex—A simple and highly mobile hexapod robot,” Int. J. Robot. Res. 20 (7), 616–631 (2001).CrossRefGoogle Scholar
Silva, M. F., Machado, J. A. T. and Lopes, A. M., “Modelling and simulation of artificial locomotion systems,” Robotica 23 (5), 595–606 (2005).CrossRefGoogle Scholar
Silva, M. F. and Machado, J. A. T., “An historical perspective of legged robots,” J. Vibr. Control (2007) to be published.Google Scholar
Silva, M. F., Machado, J. A. T. and Lopes, A. M., “Performance Analysis of Multi-Legged Systems,” Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002) pp. 2234–2239.Google Scholar
Silva, M. F., Machado, J. A. T. and Lopes, A. M., “Power Analysis of Multi-Legged Systems,” Proceedings of the 15th IFAC World Congress on Automatic Control (2002).Google Scholar
Silva, M. F., Machado, J. A. T. and Lopes, A. M., “Gait Analysis of Natural and Artificial Walking Systems,” In:Intelligent Systems at the Service of Mankind–Volume I (Elmenreich, W., Machado, J. T. and Rudas, I. J. eds.) (Ubooks, Augsberg, Germany, 2003) pp. 87–98.Google Scholar
Takeuchi, H., “Development of “MEL HORSE”,” Proceedings of the 1999 IEEE International Conference on Robotics and Automation (1999) pp. 1057–1062.Google Scholar
Taylor, C. R., Heglund, N. C. and Maloiy, G. M. O., “Energetics and mechanics of terrestrial locomotion: I. Metabolic energy consumption as a function of speed and body size in birds and mammals,” J. Exp. Biol. 79, 1–21.Google Scholar
Vanderborght, B., Verrelst, B., Van Ham, R., and Lefeber, D., “Controlling a bipedal walking robot actuated by pleated pneumatic artificial muscles,” Robotica 24 (4), 401–410 (2006).CrossRefGoogle Scholar
Witte, H., Hackert, R., Fischer, M. S., Ilg, W., Albiez, J., Dillmann, R. and Seyfarth, A., “Design Criteria for the Leg of a Walking Machine Derived by Biological Inspiration from Quadrupedal Mammals,” Proceedings of the 4th International Conference on Climbing and Walking Robots (2001) pp. 63–68.Google Scholar
Witte, H., Hackert, R., Lilje, K. E., Schilling, N., Voges, D., Klauer, G., Ilg, W., Albiez, J., Seyfarth, A., Germann, D., Hiller, M., Dillmann, R. and Fischer, M. S., “Transfer of Biological Principles into the Construction of Quadruped Walking Machines,” Proceedings of the Second International Workshop on Robot Motion and Control (2001) pp. 245–249.Google Scholar
Yang, J. M., “Fault-tolerant crab gaits and turning gaits for a hexapod robot,” Robotica 24 (2), 269–270 (2006).CrossRefGoogle Scholar
Yoshikawa, T., Foundations of Robotics–Analysis and Control (MIT Press, Cambridge, 1990).Google Scholar
Zhoga, V. V., “Computation of Walking Robots Movement Energy Expenditure,” Proceedings of the 1998 IEEE International Conference on Robotics and Automation (1998) pp. 163–168.Google Scholar
Zhou, Y., “On the planar stability of rigid-link binary walking robots,” Robotica 21 (6), 667–675 (2003).CrossRefGoogle Scholar