Nowadays the panorama of quadruped robots widely ranges from from robust to agile applications, from electrically to hydraulically actuated. They are capable of performing complex dynamic tasks like trotting, galloping and high speed running on uneven terrains. Dealing with these skills is a challenging issue because of the need of taking into account the reciprocal effects between mechanics and control. Traditionally such mutual interaction is developed by means of two semi-independent models and the two aspects get in touch mostly during the physical experimental test, when it is difficult to understand whether the troubles come from one of the two sides or from their integration. This work aims at introducing an integrated approach to get rid of such obstacles by means of a cooperation between simulated multi-body mechanical systems and control algorithms. In particular, details are provided about the modelling strategies adopted to assess the challenging case of a hydraulically actuated walking machine.
Dynamic analysis using numerical multi-body approach for quadruped robots / D'Imperio, M.; Cannella, F.; Chen, F.; Carbonari, L.; Catelani, D.; Caldwell, D. G.. - (2015), pp. 1400-1410. (Intervento presentato al convegno 2015 ECCOMAS Thematic Conference on Multibody Dynamics, Multibody Dynamics 2015 tenutosi a Barcelona School of Industrial Engineering, Universitat Politecnica de Catalunya, esp nel 2015).
Dynamic analysis using numerical multi-body approach for quadruped robots
Carbonari L.;
2015-01-01
Abstract
Nowadays the panorama of quadruped robots widely ranges from from robust to agile applications, from electrically to hydraulically actuated. They are capable of performing complex dynamic tasks like trotting, galloping and high speed running on uneven terrains. Dealing with these skills is a challenging issue because of the need of taking into account the reciprocal effects between mechanics and control. Traditionally such mutual interaction is developed by means of two semi-independent models and the two aspects get in touch mostly during the physical experimental test, when it is difficult to understand whether the troubles come from one of the two sides or from their integration. This work aims at introducing an integrated approach to get rid of such obstacles by means of a cooperation between simulated multi-body mechanical systems and control algorithms. In particular, details are provided about the modelling strategies adopted to assess the challenging case of a hydraulically actuated walking machine.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
