Design and verification of a parallel elastic robotic leg.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY Bioinspiration & Biomimetics Pub Date : 2024-02-21 DOI:10.1088/1748-3190/ad2375

Emre Tanfener, Osman Kaan Karagöz, Sinan Şahin Candan, Ali Emre Turgut, Yiğit Yazıcıoğlu, Mustafa Mert Ankaralı, Uluç Saranlı

{"title":"Design and verification of a parallel elastic robotic leg.","authors":"Emre Tanfener, Osman Kaan Karagöz, Sinan Şahin Candan, Ali Emre Turgut, Yiğit Yazıcıoğlu, Mustafa Mert Ankaralı, Uluç Saranlı","doi":"10.1088/1748-3190/ad2375","DOIUrl":null,"url":null,"abstract":"<p><p>This paper presents the design and experimental verification of a parallel elastic robotic leg mechanism that aims to capture the dynamics of the linear mass-spring-damper model. The mechanism utilizes a wrapping cam mechanism to linearize the non-linear force resulting from the elongation of the parallel elastic element. Firstly, we explain the desired dynamics of the mass-spring-damper model, including the impact transitions, and the design of the wrapping cam mechanism. We then introduce a system identification procedure to estimate the parameters of the leg mechanism corresponding to the dynamic model. The estimated parameters are tested with a cross-validation approach to evaluate the mechanism's performance in tracking the desired model. The experimental results show that the passive dynamics of the mechanism resemble the linear model as intended. Thus, the robot provides a basis for using parallel elastic actuation while using model-based controllers that benefit the analytic solutions of the linear model.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":null,"pages":null},"PeriodicalIF":3.1000,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Bioinspiration & Biomimetics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1088/1748-3190/ad2375","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

Abstract

This paper presents the design and experimental verification of a parallel elastic robotic leg mechanism that aims to capture the dynamics of the linear mass-spring-damper model. The mechanism utilizes a wrapping cam mechanism to linearize the non-linear force resulting from the elongation of the parallel elastic element. Firstly, we explain the desired dynamics of the mass-spring-damper model, including the impact transitions, and the design of the wrapping cam mechanism. We then introduce a system identification procedure to estimate the parameters of the leg mechanism corresponding to the dynamic model. The estimated parameters are tested with a cross-validation approach to evaluate the mechanism's performance in tracking the desired model. The experimental results show that the passive dynamics of the mechanism resemble the linear model as intended. Thus, the robot provides a basis for using parallel elastic actuation while using model-based controllers that benefit the analytic solutions of the linear model.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

平行弹性机械腿的设计与验证

本文介绍了一种平行弹性机械腿机构的设计和实验验证，该机构旨在捕捉线性质量-弹簧-阻尼模型的动态特性。该机构利用包裹凸轮机构将平行弹性元件伸长产生的非线性力线性化。首先，我们解释了质量弹簧-阻尼器模型所需的动力学特性，包括冲击转换和包裹凸轮机构的设计。然后，我们介绍了一种系统识别程序，用于估算与动态模型相对应的支腿机构参数。通过交叉验证方法对估算参数进行测试，以评估机构在跟踪所需模型方面的性能。实验结果表明，该机构的被动动态与预期的线性模型相似。因此，该机器人为使用并行弹性致动提供了基础，同时使用基于模型的控制器有利于线性模型的解析解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.