Stiffness distribution control locomotion of closed link robot with mechanical softness

Takeshi Matsuda; Satoshi Murata

doi:10.1109/ROBOT.2006.1641919

Stiffness distribution control locomotion of closed link robot with mechanical softness

Takeshi Matsuda, Satoshi Murata

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

21 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	1491-1498
Number of pages	8
DOIs	https://doi.org/10.1109/ROBOT.2006.1641919
Publication status	Published - 2006 Dec 27
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 2006 May 15 → 2006 May 19

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Other

Other	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	06/5/15 → 06/5/19

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2006.1641919

Cite this

Stiffness distribution control locomotion of closed link robot with mechanical softness. / Matsuda, Takeshi; Murata, Satoshi.

Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1491-1498 1641919 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Matsuda, T & Murata, S 2006, Stiffness distribution control locomotion of closed link robot with mechanical softness. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641919, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1491-1498, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1641919

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title = "Stiffness distribution control locomotion of closed link robot with mechanical softness",

abstract = "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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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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Stiffness distribution control locomotion of closed link robot with mechanical softness

Abstract

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