Stiffness distribution control locomotion of closed link robot with mechanical softness

Takeshi Matsuda, Satoshi Murata

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1491-1498
Number of pages8
DOIs
Publication statusPublished - 2006 Dec 27
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period06/5/1506/5/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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