Requirement derivation method for a legged robot with series-elastic actuators

Resumo


In this work we propose a new methodology for requirement derivation of the dynamical requirements of a series elastic actuator applied to a legged robot. The leg model consists of a mechanism composed of three links – representing the thigh, the shin and the foot – and two Series Elastics Actuators (SEA) – representing the knee and ankle. The stance phase of a running gait is modeled according to the Spring Loaded Inverted Pendulum (SLIP) method. To make sure that sufficient extent of running patterns is covered, the SLIP parameters are sampled inside a predefined range using the Improved Distributed Hypercube Sampling method. The number of samples used in this study is selected through a convergence test. The leg performance is then studied through a comparison between the CoM trajectory obtained simulating the mechanism with ideal actuators on its joints and with SEAs. A closed loop Impedance Controller is used to calculate the torque required by each joint that allows the system to behave as a spring, thus mimicking the spring-like behavior of the leg during the SLIP movement. The SEAs are modeled by a parametric transfer function that is also presented in this work. To the best of our knowledge, this work is the first to propose a method that accounts for the performance of this task execution.

Palavras-chave: Legged robots, Robot dynamics, Impedance control, Series elastic actuators

Referências

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Publicado
11/11/2020
DE FARIA, Daniela Vacarini; MÁXIMO, Marcos R. O. A.; GÓES, Luiz C. S.. Requirement derivation method for a legged robot with series-elastic actuators. In: CONCURSO DE TESES E DISSERTAÇÕES EM ROBÓTICA - CTDR (MESTRADO) - SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO-AMERICANO DE ROBÓTICA (SBR/LARS), 8. , 2020, Natal. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2020 . p. 61-72. DOI: https://doi.org/10.5753/wtdr_ctdr.2020.14955.