Design, modeling and preliminary control of a compliant hexapod robot

Date

2000-01-01

Author

Saranlı, Uluç
Koditschek, Daniel E.

Metadata

Show full item record

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

Item Usage Stats

166
views

0
downloads

In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged robotics applications. A compliant hexapod model, used to build a simulation environment closely informed the design and construction of the physical machine and promises to inform, similarly, our future analysis as well. Simulations and experiments show that RHex can achieve dynamically stable walking, running and turning with very simple clock driven open-loop control strategies.

Subject Keywords

Legged locomotion , Intelligent robots , Leg , Computational modeling , Prototypes , Computer science , Analytical models, Hip , Machine intelligence

URI

https://hdl.handle.net/11511/57551

Journal

Proceedings-IEEE International Conference on Robotics and Automation

DOI

https://doi.org/10.1109/robot.2000.846418

Collections

Department of Computer Engineering, Article

Suggestions

OpenMETU
Core

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. ...
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...
Optimization of physical parameters of an underactuated quadrupedal robot Karagoz, Osman Kaan; Ankaralı, Mustafa Mert (2018-01-01) In this paper, we present the comparison of different optimization algorithms that are used to optimize the parameters of a simulated legged robotic platform. We compare the results obtained by applying different algorithms on the same model and show the relative advantages and disadvantages of these algorithms. The tested algorithms are Particle Swarm Optimization, Binary Coded Genetic Algorithm, Broyden-Fletcher-Goldfrab-Shannon Algorithm and Method of Zoutendijk. We showed that the globally optimal param...
Design and experimental verification of a clutched parallel elastic actuation mechanism for legged locomotion Tanfener, Emre; Turgut, Ali Emre; Saranlı, Uluç; Department of Mechanical Engineering (2022-1) This thesis presents modeling and system identification studies of a parallel elastically actuated robotic leg system and then details a clutch mechanism design to increase the overall efficiency of the system. The considered platform is a hopping mechanism constrained in the vertical axis that moves with the help of an electric motor and the integrated tension spring working parallel to the motor. To describe the dynamic motion of the mechanism, including the impact transitions, a linearized mass-spring da...
Modeling, identification and real time position control of a two-axis gimballed mirror system Çağatay, Kartal; Platin, Bülent Emre; Department of Mechanical Engineering (2010) This work focuses on modeling, parameter estimation, and real-time position control of a two axis Gimbaled Mirror System (GMS) which is designed and manufactured to move an IR spot generated by an Infra Red Scene Generator System (IRSGS) in two orthogonal axes (elevation and azimuth) within the IR scene which is also generated by the IRSGS. Mathematical models of the GMS, the control system, and the disturbance torque originated from the movements of Flight Motion Simulator (FMS), on which the IRSGS will be...

Citation Formats

U. Saranlı and D. E. Koditschek, “Design, modeling and preliminary control of a compliant hexapod robot,” Proceedings-IEEE International Conference on Robotics and Automation, pp. 2589–2596, 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/57551.