Bio-inspired globally convergent gait regulation for a climbing robot
Abstract/Contents
- Abstract
- The priorities of a climbing legged robot are to maintain a grasp on its climbing surface and to climb efficiently against the force of gravity. Climbing robots are especially susceptible to thermal overload during normal operation, due to the need to oppose gravity and to frequently apply internal forces for clinging. These priorities guided us to develop optimal climbing behaviors under thermal constraints. These behaviors in turn profoundly constrain the choice of gait regulation methods. We propose a novel algorithm: "travel-based" gait regulation that varies foot detachment timing, effectively modifying stride length and frequency in order to maintain gait phasing, subject to kinematic and stability constraints. A core feature of the algorithm is "travel, " a new metric that plays a similar role to relative phasing. The method results in linear equations in terms of travel, leading to straightforward tests for local and global convergence when, for example, disturbances such as foot slippage cause departures from the nominal phasing. We form recurrence maps and use eigenvalue and singular value decomposition to examine local convergence of gaits. To examine global convergence, we implemented a computational geometry technique in high-order spaces. Our travel-based algorithm benefits from a compact code size and ease of implementation. We implemented the algorithm on the RiSE and Stickybot III robots as well as a virtual hexapod in a physics simulator. We demonstrated quickly converging gaits on all platforms as well as gait transitions on Stickybot III and the virtual hexapod.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2011 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Trujillo, Salomon Joseph |
|---|---|
| Associated with | Stanford University, Department of Mechanical Engineering |
| Primary advisor | Cutkosky, Mark R |
| Thesis advisor | Cutkosky, Mark R |
| Thesis advisor | Khatib, Oussama |
| Thesis advisor | Waldron, Kenneth J |
| Advisor | Khatib, Oussama |
| Advisor | Waldron, Kenneth J |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Salomon Joseph Trujillo. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2011. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2011 by Salomon Joseph Trujillo
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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