Proceedings Article10.1109/ICRA.2018.8462879
Investigation of a Bipedal Platform for Rapid Acceleration and Braking Manoeuvres
Alexander Blom,Amir Patel +1 more
- 21 May 2018
- pp 426-432
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TL;DR: It is shown that access to a higher mass-specific force does not improve the rapid acceleration manoeuvres, rather the friction coefficient and keeping the feet near the ground act as the limiting factor given sufficiently powerful actuators.
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Abstract: Rapid acceleration manoeuvres have been avoided by researchers due to the aperiodicity and complexities of this motion With the recent improvements in optimal control, this paper presents the first examination of a biped completing a time optimal sprint, starting and ending in rest, to provide insight for parameter choices of a robotic platform In particular, a realistic linkage morphology is used with the limitation of a pre-specified actuator to choose the nominal leg length and gear ratio Due to the size of the optimisation problem, a brute force approach is used rather than including these parameters as free variables The results provided unique motion trajectories for time optimal behaviour with the models reaching near steady state motion and performing manoeuvres that are seen in a biped's biological counterpart We then show that access to a higher mass-specific force does not improve the rapid acceleration manoeuvres, rather the friction coefficient and keeping the feet near the ground act as the limiting factor given sufficiently powerful actuators A parabolic relationship emerged for sprint time versus linkage lengths providing valuable insight into the parameters to use for the platform design To the authors knowledge, no prior research has focused on rapid acceleration and braking manoeuvres of a biped in one optimisation problem, let alone providing insight for the physical bipedal robotic platform
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Citations
Minor Change, Major Gains: The Effect of Orientation Formulation on Solving Time for Multi-Body Trajectory Optimization
Alexander Knemeyer,Stacey Shield,Amir Patel +2 more
- 07 Jul 2020
TL;DR: This letter investigates whether changing the orientation coordinates of a multi-body system model from relative to absolute angles can reduce the time required to solve the problem.
14
Baleka: A Bipedal Robot for Studying Rapid Maneuverability
TL;DR: The optimization-inspired design and testing of an agile bipedal robot called Baleka, which has specifically been designed for rapid acceleration and gait termination, are presented to indicate the power of using trajectory optimization methods to aid in the mechanical design process and prove Baleka's suitability for future rapid transient maneuver studies.
5
•Dissertation
Design of a bipedal robot for rapid acceleration and braking manoeuvres
Alexander Francois Blom
- 01 Jan 2019
TL;DR: Baleka was found to be the most agile bipedal robot, exceeding the agility of humans, and was able to hop higher than all other robots, verifying it’s suitability for rapid acceleration manoeuvres.
4
Waste Not, Want Not: Lessons in Rapid Quadrupedal Gait Termination from Thousands of Suboptimal Solutions
Stacey Shield,Amir Patel +1 more
- 24 Oct 2020
TL;DR: In this paper, a set of over 3000 monopedal and quadrupedal trajectories were analyzed to identify a hindlimb action that creates large braking forces, and the resulting set of diverse motions can reveal which features tend to be associated with good performance.
2
A Review of Robotics Research in South Africa
E. Boje,R. L. Christopher,John Manuel Fernandes,J. H. Hepworth,R. B. Kuriakose,K. Kruger,T. Lorimer,Nicolaas Luwes,H. D. Mouton,A. Patel,B. Rosmang,W. J. Smit,Riaan Stopforth,B. Van Eden,T. Van Niekerk,H. J. Vermaak,Daniel Withey +16 more
- 30 Nov 2019
TL;DR: Boje et al. as mentioned in this paper conducted a review of robotics research in South Africa and found that the majority of the researchers were employed in the field of artificial intelligence (AI).
1
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