In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the considera...In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic systems.This is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases considerably.Moreover,the human leg bones that are involved in walking are supported by viscoelastic muscles and ligaments.Therefore,for achieving more exact results,it is essential to model the robot links with viscoelastic properties.To this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of motion.The most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational force.The extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned goal.To overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue problem.By solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are determined.The effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of robotic systems are also studied.The findings of this parametric study reveal that the increase in the Kelvin-Voigt coefficient enhances the stability of the robotic system,while the increase in the modulus of elasticity has an opposite effect.展开更多
This article presents a general formulation for the mathematical modeling of a specific class of aerial robots known as hexacopters.The mentioned robotic system,which consists of six arms with motors attached to each ...This article presents a general formulation for the mathematical modeling of a specific class of aerial robots known as hexacopters.The mentioned robotic system,which consists of six arms with motors attached to each end,possesses a unique feature:it uses the minimum actuator required to reach a specific position in space with a defined orientation.To achieve this,it is vital to install the motors with an appropriate arrangement positioned at the end of each arm to ensure the robot’s controllability.On the other hand,two virtual arms with zero lengths were used to describe the robot’s orientation with regard to the inertial coordinate system in a tangible manner.One of the innovations carried out in this article is the standardization of the derivation of the motion equations of this robotic system procedure.For this purpose,first,the platform of the hexacopter is separated into several substructures.Following the previous step,the dynamic equations of each of these infrastructures are extracted in explicit form accordingly.Finally,the symbolic equations are merged,and as a result,the dynamic behavior of this aerial robot is formulated.The focus of this research is mainly on hexacopters.However,the presented method is generic enough to cover all aerial robots of this kind(with any number of arms and any relative arrangement between the members).Lastly,to show the robot’s ability to reach a specific position in space with the desired orientation,the results of tracking a relatively complex trajectory by utilizing this robotic system are presented.展开更多
This study presents a comprehensive and standardized foundation for the mathematical modeling and control of flying-base-mounted manipulators,addressing several critical challenges in aerial robotics.The primary contr...This study presents a comprehensive and standardized foundation for the mathematical modeling and control of flying-base-mounted manipulators,addressing several critical challenges in aerial robotics.The primary contributions of this study include:(1)the development of a unified framework for computing the system's generalized forces,incorporating both active motor inputs and passive constraint forces;(2)a trajectory planning method for the flying base that simultaneously accounts for both desired position and orientation;(3)an automatic and recursive methodology for deriving the system's equations of motion,ensuring that increasing the number of links in the manipulator or flying base does not introduce limitations;and(4)a motor configuration strategy that enables the flying base to achieve unrestricted motion in three-dimensional space.To address these challenges,the proposed approach systematically decomposes the robot structure—consisting of the flying base and the mounted manipulator—into a set of substructures.Each substructure,modeled as an open kinematic chain with a moving base,is analyzed using the recursive Gibbs-Appell algorithm to derive its equations of motion.These individual equations are then integrated to obtain the coupled dynamics of the complete system,capturing the mutual interactions between the flying base and the manipulator.Finally,a feedback linearization-based controller is designed to enable simultaneous trajectory tracking of both the flying base and the manipulator's end-effector.Simulation results validate the effectiveness of the proposed control strategy,demonstrating its ability to achieve precise positioning and accurate orientation tracking of the entire robotic system.展开更多
文摘In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic systems.This is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases considerably.Moreover,the human leg bones that are involved in walking are supported by viscoelastic muscles and ligaments.Therefore,for achieving more exact results,it is essential to model the robot links with viscoelastic properties.To this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of motion.The most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational force.The extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned goal.To overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue problem.By solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are determined.The effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of robotic systems are also studied.The findings of this parametric study reveal that the increase in the Kelvin-Voigt coefficient enhances the stability of the robotic system,while the increase in the modulus of elasticity has an opposite effect.
文摘This article presents a general formulation for the mathematical modeling of a specific class of aerial robots known as hexacopters.The mentioned robotic system,which consists of six arms with motors attached to each end,possesses a unique feature:it uses the minimum actuator required to reach a specific position in space with a defined orientation.To achieve this,it is vital to install the motors with an appropriate arrangement positioned at the end of each arm to ensure the robot’s controllability.On the other hand,two virtual arms with zero lengths were used to describe the robot’s orientation with regard to the inertial coordinate system in a tangible manner.One of the innovations carried out in this article is the standardization of the derivation of the motion equations of this robotic system procedure.For this purpose,first,the platform of the hexacopter is separated into several substructures.Following the previous step,the dynamic equations of each of these infrastructures are extracted in explicit form accordingly.Finally,the symbolic equations are merged,and as a result,the dynamic behavior of this aerial robot is formulated.The focus of this research is mainly on hexacopters.However,the presented method is generic enough to cover all aerial robots of this kind(with any number of arms and any relative arrangement between the members).Lastly,to show the robot’s ability to reach a specific position in space with the desired orientation,the results of tracking a relatively complex trajectory by utilizing this robotic system are presented.
文摘This study presents a comprehensive and standardized foundation for the mathematical modeling and control of flying-base-mounted manipulators,addressing several critical challenges in aerial robotics.The primary contributions of this study include:(1)the development of a unified framework for computing the system's generalized forces,incorporating both active motor inputs and passive constraint forces;(2)a trajectory planning method for the flying base that simultaneously accounts for both desired position and orientation;(3)an automatic and recursive methodology for deriving the system's equations of motion,ensuring that increasing the number of links in the manipulator or flying base does not introduce limitations;and(4)a motor configuration strategy that enables the flying base to achieve unrestricted motion in three-dimensional space.To address these challenges,the proposed approach systematically decomposes the robot structure—consisting of the flying base and the mounted manipulator—into a set of substructures.Each substructure,modeled as an open kinematic chain with a moving base,is analyzed using the recursive Gibbs-Appell algorithm to derive its equations of motion.These individual equations are then integrated to obtain the coupled dynamics of the complete system,capturing the mutual interactions between the flying base and the manipulator.Finally,a feedback linearization-based controller is designed to enable simultaneous trajectory tracking of both the flying base and the manipulator's end-effector.Simulation results validate the effectiveness of the proposed control strategy,demonstrating its ability to achieve precise positioning and accurate orientation tracking of the entire robotic system.
