A DYNAMIC MODEL OF RUNNING WITH A HALF-CIRCULAR COMPLIANT LEG

Date

2012-07-26

Author

Ankarali, MUSTAFA MERT
SAYGINER, E.
Yazıcıoğlu, Yiğit
Saranlı, Afşar
Saranlı, Uluç

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

223
views

0
downloads

Substantial research on legged robotics focuses on the design and morphology of leg structures. In this context, the advantages of passive compliance for reliability and simplicity have long been recognized. For example, composite leg designs with a half-circular profile used on later versions of the RHex hexapod were found to support a rich set of dynamic behaviors. However, the complex geometry and compliance properties of these legs have been difficult to model, preventing the use of dynamics imulations. In this paper, we present a simple dynamic model for this leg design for a planar monopod, taking into account both the kinematics of rolling contact and the nonlinear compliance of the geometry. We show through simulations that realistic predictions for system trajectories can be generated and leave experimental validation of this model for future work.

Subject Keywords

Castigliano's theorem, Half-circular compliant leg, RHex

URI

https://hdl.handle.net/11511/53589

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

A DYNAMIC MODEL OF RUNNING WITH A HALF-CIRCULAR COMPLIANT LEG Ankaralı, Mustafa Mert; Yazıcıoğlu, Yiğit; Saranlı, Afşar; Saranlı, Uluç (null, 2012-07-01) Substantial research on legged robotics focuses on the design and morphology of leg structures. In this context, the advantages of passive compliance for reliability and simplicity have long been recognized. For example, composite leg designs with a half-circular profile used on later versions of the RHex hexapod were found to support a rich set of dynamic behaviors. However, the complex geometry and compliance properties of these legs have been difficult to model, preventing the use of dynamic simulations....
A survey on piecewise-linear models of regulatory dynamical systems Öktem, Hüseyin Avni (Elsevier BV, 2005-11-01) Recent developments in understanding the various regulatory systems, especially the developments in biology and genomics, stimulated an interest in modelling such systems. Hybrid systems, originally developed for process control applications, provide advances in modelling such systems. A particular class of hybrid systems which are relatively simpler to analyze mathematically but still capable of demonstrating the essential features of many non-linear dynamical systems is piecewise-linear systems. Implement...
A Canine Gait Analysis Protocol for Back Movement Assessment in German Shepherd Dogs Sürer, Elif; Evangelisti, Maria Antonietta; Paolini, Gabriele; Della Croce, Ugo; Manunta, Maria Lucia (2020-03-01) Objective-To design and test a motion analysis protocol for the gait analysis of adult German Shepherd (GS) dogs with a focus in the analyses of their back movements. Animals-Eight clinically healthy adult large-sized GS dogs (age, 4 +/- 1.3 years; weight, 38.8 +/- 4.2 kg). Procedures-A six-camera stereo-photogrammetric system and two force platforms were used for data acquisition. Experimental acquisition sessions consisted of static and gait trials. During gait trials, each dog walked along a 6 m long wal...
A 3D Dynamic Model of a Spherical Wheeled Self-Balancing Robot Inal, Ali Nail; Morgul, Omer; Saranlı, Uluç (2012-10-12) Mobility through balancing on spherical wheels has recently received some attention in the robotics literature. Unlike traditional wheeled platforms, the operation of such platforms depends heavily on understanding and working with system dynamics, which have so far been approximated with simple planar models and their decoupled extension to three dimensions. Unfortunately, such models cannot capture inherently spatial aspects of motion such as yaw motion arising from the wheel rolling motion or coupled ine...
Optimal control of a half-circular compliant legged monopod AYDIN, Yasemin Ozkan; Saranlı, Afşar; Yazıcıoğlu, Yiğit; Saranlı, Uluç; Leblebicioğlu, Mehmet Kemal (2014-12-01) This paper investigates an optimal control strategy for the dynamic locomotion of a simplified planar compliant half-circular legged monopod model. We first present a novel planar leg model which incorporates rolling kinematics and a new compliance model, motivated by the use of similar leg designs on existing platforms. Two locomotion tasks, moving at a prescribed horizontal velocity and a one-shot jump to maximum possible height or length, are then investigated within this model. The designs of two high-l...

Citation Formats

M. M. Ankarali, E. SAYGINER, Y. Yazıcıoğlu, A. Saranlı, and U. Saranlı, “A DYNAMIC MODEL OF RUNNING WITH A HALF-CIRCULAR COMPLIANT LEG,” 2012, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/53589.