TASK ORIENTED KINEMATIC ANALYSIS FOR A LEGGED ROBOT WITH HALF-CIRCULAR LEG MORPHOLOGY

Date

2009-05-17

Author

Sayginer, Ege
Akbey, Tulay
Yazıcıoğlu, Yiğit
Saranlı, Afşar

Metadata

Show full item record

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

Item Usage Stats

135
views

0
downloads

In this paper, we study the kinematics of a legged robot with half-circular leg morphology. In particular, our focus is on the RHex hexapod platform. A new kinematic model for RHex is developed considering the leg shape and its consequences, which was over simplified in the previous models seen in literature. The formulation is an accurate kinematic representation of the robot in the sagittal plane that is based on a four-link mechanism analogy. When only pure rolling motion of the legs are considered, it is found that when front and rear pairs of legs are in contact with the ground, the robot becomes a one degree-offreedom mechanism and position of the middle pair of legs are redundant. The problem is solved in two steps; the first one being the determination of the initial configuration of the leg angular positions which defines the initial value of the variable distance of the front and rear leg and ground contact ponts. After the initial configuration of the system is set, pitch angle of the robot body can be manipulated by controlling one of the leg angular positions and the results are presented on an example case; positioning a body fixed unactuated sensor by controlling robot body pitch angle through the actuation of one of the legs. The results are a good display of the multi-functional aspect of the legs in addition to their use for locomotion.

Subject Keywords

Models

URI

https://hdl.handle.net/11511/53757

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

New Parameter Estimation Method of Linear Adaptive Filter for Modeling Kinematic Motion Primitive of Effective DOF of Hand Lahroodi, Mahmood; Konukseven, Erhan İlhan (2015-09-23) In this paper, We have extracted and modeled the motion primitive of human hand in a simple 1-DOF rhythmic motion task, i. e. manipulating mass-spring-damper system. The experiment was carried out by using 1-DOF haptic box with virtual reality in Simulink environment. The interaction dynamics of haptic box and human which consists of hand and brain reveals the role of the human as an intelligent admittance. We tested 6 people who tried to combine motion primitives to produce smoother motion during learning ...
Search for Gluinos in Events with Two Same-Sign Leptons, Jets, and Missing Transverse Momentum with the ATLAS Detector in pp Collisions at root s=7 TeV Aad, G.; et. al. (2012-06-15) A search is presented for gluinos decaying via the supersymmetric partner of the top quark using events with two same-sign leptons, jets, and missing transverse momentum. The analysis is performed with 2: 05 fb(-1) of integrated luminosity from pp collisions at root s = 7 TeV collected by the ATLAS detector at the LHC. No excess beyond the standard model expectation is observed, and exclusion limits are derived for simplified models where the gluino decays via the supersymmetric partner of the top quark and...
Analysis and control of a body-attached spring-mass runner based on central pivot point approach Karagoz, O. Kaan; Sever, Izel; Saranlı, Uluç; Ankaralı, Mustafa Mert (2020-07-01) © 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been used as benchmark models for analyzing the dynamics of legged systems in biology and robotics. The fundamental SLIP model is composed of single point mass attached to the ground (during stance phase) via an ideal lossless spring. Many researchers introduced various extensions to this fundamental model, such as damping torque actuation, to handle critical physical phenomena that are unavoidable in real systems. ...
Semi-automated registration of BILSAT-1 XS imagery via global orthorectified landsat ETM plus data set Ok, Ali Oezguen (2007-06-16) In this study, a semi-automated registration methodology that can be adapted to BILSAT-1 XS images is proposed. Orthorectified and geodetically accurate global land datasets generated from the Landsat ETM+ images are used as the reference sources. Three different test sites are employed to test the accuracies of the registration. The accuracies of the registration were assessed using Independent Check Points (ICPs) which were manually collected from 1:25000-scale digital topographic maps of Turkey. The comp...
MODELING THE COMPLIANCE OF A VARIABLE STIFFNESS C-SHAPED LEG USING CASTIGLIANO'S THEOREM Ünlü Aydın, Yücel; Yazıcıoğlu, Yiğit (2010-08-18) This paper discusses the application of Castigliano's Theorem to a half circular beam intended for use as a shaped, tunable, passively compliant robot leg. We present closed-form equations characterizing the deflection behavior of the beam (whose compliance properties vary along the leg) under appropriate loads. We compare the accuracy of this analytical representation to that of a Pseudo Rigid Body (PRB) approximation in predicting the data obtained by measuring the deflection of a physical half-circular b...

Citation Formats

E. Sayginer, T. Akbey, Y. Yazıcıoğlu, and A. Saranlı, “TASK ORIENTED KINEMATIC ANALYSIS FOR A LEGGED ROBOT WITH HALF-CIRCULAR LEG MORPHOLOGY,” 2009, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/53757.