The objective of this paper is to design a quadruped robot with compliant legs. Compliant legs are developed using flexible joints, which allow the robot to attenuate the effect of support-leg exchange. A model of the legs is generated in SimMechanics and optimized to minimize the maximum torque required by the actuators. The control of the robot is divided into two stages: (i) a gait central pattern generator, and (ii) a control system with feedback linearization. The gait pattern generator is developed based on optimal inverse kinematics with the use of Bezier polynomials. The resulting gait is used as a set-point in a closed-loop feedback control, which achieves a stable gait locomotion over rough, uncertain terrain. The uncertainty on the terrain causes unknown impacts in the robot. These impacts are absorbed by the compliance of the leg mechanisms. The proposed leg mechanisms are tested in a 3D-printed quadruped robot with fifteen degrees of freedom. Since, the robot is designed with eight actuators, the robot has seven degrees of under-actuation. The lack of actuators in this robot is overcame through the proposed gait pattern generator.
Skip Nav Destination
ASME 2018 International Mechanical Engineering Congress and Exposition
November 9–15, 2018
Pittsburgh, Pennsylvania, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-5203-3
PROCEEDINGS PAPER
Optimal Mechatronic Design of a Quadruped Robot With Compliant Legs
Jaime Arcos-Legarda,
Jaime Arcos-Legarda
National University of Colombia, Bogota, Colombia
Search for other works by this author on:
Khunsa Hisham,
Khunsa Hisham
Indiana University-Purdue University Indianapolis, Indianapolis, IN
Search for other works by this author on:
Sohel Anwar,
Sohel Anwar
Indiana University-Purdue University Indianapolis, Indianapolis, IN
Search for other works by this author on:
Andres Tovar
Andres Tovar
Indiana University-Purdue University Indianapolis, Indianapolis, IN
Search for other works by this author on:
Jaime Arcos-Legarda
National University of Colombia, Bogota, Colombia
Khunsa Hisham
Indiana University-Purdue University Indianapolis, Indianapolis, IN
Sohel Anwar
Indiana University-Purdue University Indianapolis, Indianapolis, IN
Andres Tovar
Indiana University-Purdue University Indianapolis, Indianapolis, IN
Paper No:
IMECE2018-88055, V04AT06A032; 8 pages
Published Online:
January 15, 2019
Citation
Arcos-Legarda, J, Hisham, K, Anwar, S, & Tovar, A. "Optimal Mechatronic Design of a Quadruped Robot With Compliant Legs." Proceedings of the ASME 2018 International Mechanical Engineering Congress and Exposition. Volume 4A: Dynamics, Vibration, and Control. Pittsburgh, Pennsylvania, USA. November 9–15, 2018. V04AT06A032. ASME. https://doi.org/10.1115/IMECE2018-88055
Download citation file:
45
Views
0
Citations
Related Proceedings Papers
Related Articles
Resilient and Robust Control of Time-Delay Wind Energy Conversion Systems
ASME J. Risk Uncertainty Part B (March,2017)
A QFT Framework for Antiwindup Control Systems Design
J. Dyn. Sys., Meas., Control (March,2010)
High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control
J. Manuf. Sci. Eng (February,2000)
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Accuracy-associated Models
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution