This work investigates the interaction of a planar double pendulum robot and springs, where the lower body (the leg) has been modified to include a spring-loaded passive prismatic joint. The thesis explores the mechanical advantage of adding a spring to the robot in hopping, landing, and balancing activities by formulating the motion problem as a boundary value problem; and also provides a control strategy for such scenarios. It also analyses the robustness of the developed controller to uncertain spring parameters, and an observer solution is provided to estimate these parameters while the robot is performing a tracking task. Finally, it shows a study of how well IMUs perform in bouncing conditions, which is critical for the proper operation of a hopping robot or a running-legged one.

Hopping, Landing, and Balancing with Springs

GAMBA CAMACHO, JUAN DAVID
2022

Abstract

This work investigates the interaction of a planar double pendulum robot and springs, where the lower body (the leg) has been modified to include a spring-loaded passive prismatic joint. The thesis explores the mechanical advantage of adding a spring to the robot in hopping, landing, and balancing activities by formulating the motion problem as a boundary value problem; and also provides a control strategy for such scenarios. It also analyses the robustness of the developed controller to uncertain spring parameters, and an observer solution is provided to estimate these parameters while the robot is performing a tracking task. Finally, it shows a study of how well IMUs perform in bouncing conditions, which is critical for the proper operation of a hopping robot or a running-legged one.
Robotics, Spring, Balance, HOSM, Sliding Mode, Legged Robot, High-Performance, Nonlinear Observer, Optimization, Motion Search, Collocation Methods, Orthogonal Collocation, Finite-Time Algorithm.
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Descrizione: Hopping, Landing, and Balancing with Springs
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11567/1079807
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