TY - GEN
T1 - Stiffness distribution control locomotion of closed link robot with mechanical softness
AU - Matsuda, Takeshi
AU - Murata, Satoshi
PY - 2006/12/27
Y1 - 2006/12/27
N2 - This paper proposes a new method of locomotion control, named "Stiffness Distribution Control (SDC)", to realize various locomotion of a closed link robot with mechanical softness. SDC directly defines the reference stiffness coefficient at each hinge by SDC string which represents the distribution of the stiffness. This simple method does not need costly calculation at all and thus is suitable for controlling closed link robots. We build "BIYOn" as the prototype of closed link robots, the variable stiffness hinge (VSH) of which is newly designed. SDC is experimented on BIYOn and then it's found that SDC is effective in a controlling locomotion in practice. We also develop a systematic optimization method of stiffness distribution composed of two-stage approach and succeed in optimization to obtain a fast and smooth rolling motion and a sudden stopping motion.
AB - This paper proposes a new method of locomotion control, named "Stiffness Distribution Control (SDC)", to realize various locomotion of a closed link robot with mechanical softness. SDC directly defines the reference stiffness coefficient at each hinge by SDC string which represents the distribution of the stiffness. This simple method does not need costly calculation at all and thus is suitable for controlling closed link robots. We build "BIYOn" as the prototype of closed link robots, the variable stiffness hinge (VSH) of which is newly designed. SDC is experimented on BIYOn and then it's found that SDC is effective in a controlling locomotion in practice. We also develop a systematic optimization method of stiffness distribution composed of two-stage approach and succeed in optimization to obtain a fast and smooth rolling motion and a sudden stopping motion.
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U2 - 10.1109/ROBOT.2006.1641919
DO - 10.1109/ROBOT.2006.1641919
M3 - Conference contribution
AN - SCOPUS:33845635274
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1491
EP - 1498
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -