Optimal Protraction of a Biologically Inspired Robot Leg

Date

2011-12-01

Author

Erden, Mustafa Suphi

Metadata

Show full item record

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

Item Usage Stats

162
views

0
downloads

In this paper, protraction movement, namely forward stepping, of a biologically inspired three-joint robot leg is optimized for minimum energy consumption. Trajectory optimization is performed for various initial-final tip point positions of protraction. A modified version of gradient descent based optimal control algorithm is used. The objective function is modified in steps to jump over many unfeasible and inefficient local optima. The optimized trajectories are used to construct a radial basis function neural network (RBFNN) to interpolate for the untrained regions. The results of optimization are compared with the observations of protraction of stick insects. It is concluded that a direct biological imitation of protraction is not energy efficient. A sample protraction of a leg of the Robot-EA308 is demonstrated in guidance of the optimized trajectory. Energy optimal protraction of a robot leg necessitates flexion of the leg, rather than extension as observed in the stick insects.

Subject Keywords

Control and Systems Engineering, Mechanical Engineering, Electrical and Electronic Engineering, Industrial and Manufacturing Engineering, Software, Artificial Intelligence

URI

https://hdl.handle.net/11511/63566

Journal

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

DOI

https://doi.org/10.1007/s10846-011-9538-8

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Multi-agent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task Erden, MS; Leblebicioğlu, Mehmet Kemal; Halıcı, Uğur (Springer Science and Business Media LLC, 2004-03-01) This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The control variables of the controllers are linear velocity of the base, angular velocity of the elbow, and angular velocity of the shoulder. Main inputs to the system are the horizontal ...
Flexible multibody dynamic modeling and simulation of rhex hexapod robot with half circular compliant legs Oral, Gökhan; Yazıcıoğlu, Yiğit; Department of Mechanical Engineering (2008) The focus of interest in this study is the RHex robot, which is a hexapod robot that is capable of locomotion over rugged, fractured terrain through statically and dynamically stable gaits while stability of locomotion is preserved. RHex is primarily a research platform that is based on over five years of previous research. The purpose of the study is to build a virtual prototype of RHex robot in order to simulate different behavior without manufacturing expensive prototypes. The virtual prototype is modele...
Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part II: Analyses of grasp initialization and its vorticity based optimization Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01) Our work focuses on developing methods of determining the optimal preshape of a robot hand closing onto an object in order to achieve at contact a certain stability and manipulability degree based on kinematic considerations. This purposive closing of a preshaped hand should then be kinematically modelled in such a way that impact force patterns on the object can naturally be deduced from the model and be optimized such that upon contacting the object the desired optimum initial conditions of manipulation a...
Prediction of slip in cable-drum systems using structured neural networks KILIÇ, Ergin; Dölen, Melik (SAGE Publications, 2014-02-01) This study focuses on the slip prediction in a cable-drum system using artificial neural networks for the prospect of developing linear motion sensing scheme for such mechanisms. Both feed-forward and recurrent-type artificial neural network architectures are considered to capture the slip dynamics of cable-drum mechanisms. In the article, the network development is presented in a progressive (step-by-step) fashion for the purpose of not only making the design process transparent to the readers but also hig...
Modelling the effects of half circular compliant legs on the kinematics and dynamics of a legged robot Saygıner, Ege; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2010) RHex is an autonomous hexapedal robot capable of locomotion on rough terrain. Up to now, most modelling and simulation efforts on RHex were based on the linear leg assumption. These models disregarded what might be seen as the most characteristic feature of the latest iterations of this robot: the half circular legs. This thesis focuses on developing a more realistic model for this specially shaped compliant leg and studying its effects on the kinematics and dynamics of the resulting platform. One important...

Citation Formats

M. S. Erden, “Optimal Protraction of a Biologically Inspired Robot Leg,” JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, pp. 301–322, 2011, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/63566.