Multi-locomotion robotic systems: new concepts of bio-inspired robotics
Saved in:
| Format: | Book |
|---|---|
| Language: | English |
| Published: |
Berlin
Springer
2012
|
| Series: | Springer tracts in advanced robotics
81 |
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XIII, 312 S. Ill., graph. Darst. 235 mm x 155 mm |
| ISBN: | 3642301347 9783642301346 |
Staff View
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Record in the Search Index
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IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 ROBOT LOCOMOTION 1
1.2 RELATED WORKS O F ROBOT LOCOMOTION 2
1.2.1 QUADRUPED LOCOMOTION 2
1.2.2 HEXAPOD LOCOMOTION 5
1.2.3 HOPPING 6
1.2.4 BRACHIATION 7
1.2.5 SNAKE LOCOMOTION 8
1.2.6 BIPED LOCOMOTION 9
1.3 BIO-INSPIRED SYSTEM 2 8
1.3.1 FOUNDATION O F NEURAL NETWORK 2 8
1.3.2 RECURRENT NEURAL NETWORK 3 4
1.3.3 FEED-FORWARD NEURAL NETWORK 3 8
1.3.4 CEREBELLAR MODEL ARITHMETIC C O M P U T E R (CMAC) 4 5
1.3.5 FUZZY NEURAL NETWORK 4 6
1.3.6 GENETIC ALGORITHMS 5 0
1.3.7 CENTRAL PATTERN GENERATOR 5 2
1.4 MULTI-LOCOMOTION ROBOT 5 3
1.4.1 BIO-INSPIRED R O B O T 5 3
1.4.2 DIVERSITY O F LOCOMOTION IN ANIMALS 5 4
1.4.3 MULTI-LOCOMOTION ROBOT 5 5
1.5 ORGANIZATION O F THIS B O O K 5 8
2 BASICS 6 1
2.1 TRAJECTORY GENERATION M E T H O D O F ROBOTS 61
2.1.1 GENERATION O F A DESIRED TRAJECTORY 6 1
2.1.2 BASIC ORBITAL FUNCTION 6 2
2.1.3 DESIGN O F BASIC ORBITAL FUNCTION USING N-DIMENSIONAL POLYNOMIAL 6
2
2.2 LIMIT CYCLE 6 3
2.3 PASSIVE DYNAMIC AUTONOMOUS CONTROL (PDAC) 6 5
2.3.1 DYNAMICS O F PDAC 6 5
HTTP://D-NB.INFO/1021598747
IMAGE 2
X C O N T E N T S
2.3.2 CONTROL SYSTEM 7 0
2.3.3 ADVANTAGE O F PDAC 71
3 HARDWARE O F MULTI-LOCOMOTION R O B O T 75
3.1 BRACHIATION R O B O T (CONVENTIONAL BIO-INSPIRED ROBOT) 7 5
3.2 GORILLA R O B O T (MULTI-LOCOMOTION ROBOT) 7 6
3.2.1 GORILLA ROBOT I 7 7
3.2.2 GORILLA ROBOT II 7 9
3.2.3 GORILLA R O B O T III 8 0
3.3 SUMMARY 8 0
4 BRACHIATION 8 3
4.1 W H A T IS BRACHIATION? 8 3
4.2 LEARNING ALGORITHM FOR A GORILLA ROBOT BRACHIATION 8 4
4.2.1 MOTION LEARNING 8 4
4.2.2 EXPERIMENT 8 8
4.2.3 S U M M A R Y O F THIS SECTION 9 4
4.3 CONTINUOUS BRACHIATION USING THE GORILLA ROBOT 9 5
4.3.1 SMOOTH, CONTINUOUS BRACHIATION 9 5
4.3.2 CONTROLLER DESIGN 9 7
4.3.3 EXPERIMENT 101
4.3.4 SUMMARY O F THIS SECTION 106
4.4 CONTINUOUS BRACHIATION ON THE IRREGULAR LADDER 106
4.4.1 MOTION DESIGN O F THE BRACHIATION 106
4.4.2 LOCOMOTION ACTION 108
4.4.3 SWING ACTION I L L
4.4.4 EXPERIMENT 114
4.4.5 SUMMARY O F THIS SECTION 116
4.5 SUMMARY 116
5 QUADRUPED WALKING 117
5.1 REALIZATION O F A CRAWL G A I T 117
5.1.1 MOTION DESIGN O F A CRAWL GAIT 117
5.1.2 JOINT TRAJECTORY O F THE L E G 120
5.1.3 ESTIMATION O F WALKING ENERGY 122
5.1.4 EXPERIMENT 124
5.2 JOINT TORQUE EVALUATION O F THE GORILLA ROBOT ON SLOPES A S
QUADRUPED HARDWARE 127
5.2.1 STRUCTURE O F GORILLA ROBOT III 127
5.2.2 BASIC GAIT PATTERN 127
5.2.3 EVALUATION O F JOINT TORQUE IN QUADRUPED WALK ON A SLOPE 129
5.2.4 SIMULATION ANALYSIS 132
5.2.5 EXPERIMENT 135
5.3 SUMMARY 137
IMAGE 3
CONTENTS X I
6 LADDER CLIMBING MOTION 139
6.1 MODEL O F LADDER CLIMBING 139
6.1.1 BASIC MOTION MODEL 139
6.1.2 LADDER CLIMBING GAIT 140
6.1.3 BODY YAWING M O M E N T U M 141
6.1.4 ERROR RECOGNITION A N D ESCAPE MOTION 144
6.2 EXPERIMENT 145
6.2.1 TRANSVERSE GAIT 146
6.2.2 PACE GAIT WITH CONSTANT VELOCITY 148
6.2.3 TROT GAIT WITH ACCELERATION 148
6.3 SUMMARY 150
7 TRANSITION MOTION FROM LADDER CLIMBING TO BRACHIATION 153
7.1 MOTION DESIGN 153
7.1.1 ENVIRONMENT STATEMENT 153
7.1.2 MOTION PLANNING 154
7.1.3 TRANSITION MOTION 155
7.2 CONTACT FORCES FORMULATION 156
7.2.1 ASSUMPTIONS AND EQUILIBRIUM EQUATIONS 156
7.2.2 SUPPORTING FORCES DECOMPOSITION 157
7.2.3 BRIEF SUMMARY AND PROBLEM STATEMENT 158
7.3 LOAD-ALLOCATION CONTROL 158
7.3.1 CONCEPT O F LOAD-ALLOCATION CONTROL 158
7.3.2 OBJECTIVE FUNCTION AND CONSTRAINTS 159
7.3.3 GENERATION O F OPTIMIZED SUPPORTING FORCES 161
7.3.4 LOAD-ALLOCATION ALGORITHM 162
7.4 EEXPERIMENT RESULTS AND DISCUSSION 165
7.4.1 VALIDATING THE ASSUMPTIONS AND LOAD-ALLOCATION ABILITY 166
7.4.2 DISCUSSION O F FAILURES WITH POSITION CONTROL 168
7.4.3 EXPERIMENT RESULTS WITH LOAD-ALLOCATION CONTROL 169
7.5 SUMMARY 171
8 LOCOMOTION TRANSITION BASED O N WALKING STABILIZATION N O R M USING
BAYESIAN NETWORK 173
8.1 INTRODUCTION 173
8.2 SENSOR SYSTEM AND LOCOMOTION M O D E 173
8.3 LOCOMOTION STABILIZATION 175
8.4 STABILIZATION BASED ON EXTERNAL INFORMATION 176
8.4.1 RECOGNITION O F GROUND 176
8.5 STABILIZATION BASED ON INTERNAL CONDITIONS 177
8.5.1 ESTIMATION O F PROBABILITY 177
8.5.2 CONSIDERATION O F STABILITY MARGIN 179
8.5.3 SHIFT O F LOCOMOTION M O D E 179
8.6 EXPERIMENTS 180
IMAGE 4
X I I
C O N T E N T S
8.6.1 EXPERIMENTAL CONDITIONS 180
8.6.2 EXPERIMENTAL RESULT 180
8.7 SUMMARY 185
9 APPLICATION O F THE PASSIVE DYNAMIC AUTONOMOUS CONTROL (PDAC) . . .
187 9.1 LATERAL MOTION CONTROL WITH P D A C 187
9.1.1 LATERAL MOTION AND DYNAMICS 187
9.1.2 CONTROL O F LATERAL PERIOD 192
9.1.3 STABILIZATION 193
9.1.4 EXPERIMENTAL RESULTS 195
9.1.5 SUMMARY O F THIS SECTION 198
9.2 SAGITTAL MOTION CONTROL WITH P D A C 2 0 0
9.2.1 SAGITTAL MOTION AND DYNAMICS 2 0 1
9.2.2 STABILIZATION 2 0 4
9.2.3 SAGITTAL MOTION PERIOD 2 0 9
9.2.4 Q U I C K CONVERGENCY M E T H O D 2 1 0
9.2.5 SIMULATION 2 1 0
9.2.6 EXPERIMENT 2 1 2
9.2.7 U P P E R L A Y E R CONTROLLER 2 1 3
9.2.8 SUMMARY O F THIS SECTION 2 1 4
9.3 HEEL-OFF WALKING CONTROL WITH PDAC 2 1 5
9.3.1 SAGITTAL MOTION DESIGN 2 1 6
9.3.2 CONVERGED DYNAMICS 2 1 9
9.3.3 STABILIZATION 2 2 0
9.3.4 FOOT-CONTACT 221
9.3.5 SIMULATION 221
9.3.6 SUMMARY O F THIS SECTION 2 2 7
9.4 3-D BIPED WALKING BASED ON 3-D DYNAMICS WITH PDAC 2 2 8
9.4.1 WALKING MODEL 2 2 8
9.4.2 FOOT-CONTACT MODEL 2 3 5
9.4.3 STABILIZATION 2 3 9
9.4.4 EXPERIMENT 2 5 2
9.4.5 SIMULATION 2 5 2
9.4.6 SUMMARY O F THIS SECTION 2 5 6
9.5 3-D BIPED WALKING ADAPTED TO R O U G H TERRAIN ENVIRONMENT 2 5 6
9.5.1 FOOT-CONTACT MODEL 2 5 6
9.5.2 STABILITY ANALYSIS 2 5 8
9.5.3 EXPERIMENT 261
9.5.4 SUMMARY O F THIS SECTION 2 6 6
9.6 QUADRUPED WALKING WITH P D A C 2 6 6
9.6.1 LATERAL MOTION CONTROL 2 6 6
9.6.2 DESIGN O F PENDULUM LENGTH 2 6 7
9.6.3 SAGITTAL MOTION CONTROL 2 7 0
9.6.4 ESTIMATION O F WALKING ENERGY 2 7 2
IMAGE 5
CONTENTS X I I I
9.6.5 EXPERIMENT 2 7 6
9.6.6 SUMMARY O F QUADRUPED WALKING CONTROL 2 7 7
9.7 BRACHIATION WITH PDAC 2 7 8
9.7.1 BRACHIATION CONTROLLER WITH PDAC 2 7 8
9.7.2 ANALYSIS O F THE R O B O T DYNAMICS 2 7 9
9.7.3 EXPERIMENT 2 8 5
9.7.4 SUMMARY O F BRACHIATION CONTROL 2 9 0
9.8 SUMMARY 2 9 0
10 CONCLUSION 291
10.1 SUMMARY 291
10.2 FUTURE PERSPECTIVE 2 9 4
REFERENCES 297 |
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| illustrated | Illustrated |
| indexdate | 2024-08-21T00:02:28Z |
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| isbn | 3642301347 9783642301346 |
| language | English |
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| physical | XIII, 312 S. Ill., graph. Darst. 235 mm x 155 mm |
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| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spelling | Multi-locomotion robotic systems new concepts of bio-inspired robotics Toshio Fukuda ... Berlin Springer 2012 XIII, 312 S. Ill., graph. Darst. 235 mm x 155 mm txt rdacontent n rdamedia nc rdacarrier Springer tracts in advanced robotics 81 Kletterroboter (DE-588)4571071-5 gnd rswk-swf Schreitroboter (DE-588)4281192-2 gnd rswk-swf Neuronales Netz (DE-588)4226127-2 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Bionik (DE-588)4006888-2 gnd rswk-swf Maschinelles Lernen (DE-588)4193754-5 gnd rswk-swf Schreitroboter (DE-588)4281192-2 s Kletterroboter (DE-588)4571071-5 s Bahnplanung (DE-588)4267628-9 s Bionik (DE-588)4006888-2 s Neuronales Netz (DE-588)4226127-2 s Maschinelles Lernen (DE-588)4193754-5 s DE-604 Fukuda, Toshio Sonstige oth Springer tracts in advanced robotics 81 (DE-604)BV016421724 81 text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4012810&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025184575&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Multi-locomotion robotic systems new concepts of bio-inspired robotics Springer tracts in advanced robotics Kletterroboter (DE-588)4571071-5 gnd Schreitroboter (DE-588)4281192-2 gnd Neuronales Netz (DE-588)4226127-2 gnd Bahnplanung (DE-588)4267628-9 gnd Bionik (DE-588)4006888-2 gnd Maschinelles Lernen (DE-588)4193754-5 gnd |
| subject_GND | (DE-588)4571071-5 (DE-588)4281192-2 (DE-588)4226127-2 (DE-588)4267628-9 (DE-588)4006888-2 (DE-588)4193754-5 |
| title | Multi-locomotion robotic systems new concepts of bio-inspired robotics |
| title_auth | Multi-locomotion robotic systems new concepts of bio-inspired robotics |
| title_exact_search | Multi-locomotion robotic systems new concepts of bio-inspired robotics |
| title_full | Multi-locomotion robotic systems new concepts of bio-inspired robotics Toshio Fukuda ... |
| title_fullStr | Multi-locomotion robotic systems new concepts of bio-inspired robotics Toshio Fukuda ... |
| title_full_unstemmed | Multi-locomotion robotic systems new concepts of bio-inspired robotics Toshio Fukuda ... |
| title_short | Multi-locomotion robotic systems |
| title_sort | multi locomotion robotic systems new concepts of bio inspired robotics |
| title_sub | new concepts of bio-inspired robotics |
| topic | Kletterroboter (DE-588)4571071-5 gnd Schreitroboter (DE-588)4281192-2 gnd Neuronales Netz (DE-588)4226127-2 gnd Bahnplanung (DE-588)4267628-9 gnd Bionik (DE-588)4006888-2 gnd Maschinelles Lernen (DE-588)4193754-5 gnd |
| topic_facet | Kletterroboter Schreitroboter Neuronales Netz Bahnplanung Bionik Maschinelles Lernen |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=4012810&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025184575&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV016421724 |
| work_keys_str_mv | AT fukudatoshio multilocomotionroboticsystemsnewconceptsofbioinspiredrobotics |