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Study on moving control of multi-legged type hopping robot using adaptive CPG networks

Anuar, Mohamed Kassim (2010) Study on moving control of multi-legged type hopping robot using adaptive CPG networks. Masters thesis, University of Tokushima.

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Abstract

In half of century, there are a lot of types of autonomous locomotion robot which have been studied and developed. Most of mobile robots are wheeled type locomotion because of the simplicity in robot construction. The wheeled type locomotion excels on prepared surface such as rails and roads, but most of them have not yet been explored. As a result, the study on animal-like robot locomotion i.e. in multi-legged, snake-like, bipedal walking and hopping robot has been received much attention from many researchers because of the adaptive locomotion on unknown surface which are frequently faced by mobile robots in real-life environment. Only about half of earth's surface is accessible for wheeled type locomotion and much larger surface can be reached by animal-like locomotion. The construction of useful legged type locomotion needs the systems that able to control joint motion, cycle use of legs, monitor and manipulate balance, generate motions to use known footholds, sense the terrain to find good footholds and calculate negotiable footholds sequences[4]. Perhaps, the most familiar scenario is the sight of a baby advancing rapidly from creeping and crawling to walking, running, hopping, jumping and climbing. Animals also demonstrate great mobility and agility. They move through various environments quickly and reliably. Sometimes, they move with a great speed,often with great efficiency. However, from almost of legged type robots which have been developed are having low energy efficiency and low transferring efficiency while moving performances because of their difficulties on mechanism and control systems. Consequently, the study on jumping type robot was carried out although it has complex control system. The jumping type locomotion can be divided into two t)rpes which are hopping and jumping type robot. The big difference of hopping and jumping type robot is the jumping type robot can make only one big jump moving performance. On the other hand, the hopping type robot can generate the continuous and rhythmical jumping performance when make the movement[5]. M.H Raibert is the main contributor on hopping robot research which is research on one-legged hopping robot[4]. The one-legged robot consists of two main parts which are body and leg whereby it equipped with a pair of pneumatic actuators to exert a torque between the leg and the body about to hip. Afterward, Koditscheck and Buhler have created the discrete dynamic system theory to analyze the dynamics of a simplified hopping robot that studied only the vertical movement[6]. Besides that, I. Murakami et al. has done his research on hopping robot by linear DC motor which is hopping and moving motion control by using the attitude control with gyroscope. The linear DC motor was designed into the body part and the leg part of the hopping robot and constructed the direct-drive hopping mechanism[7]. In addition,Okubo et al. has introduced the design of jumping machine using self-energizing spring. This research has produced a machine or robot to jump high by using small output actuators[8]. Moreover, Tukagoshi et al. has studied on numerical analysis and design for higher jumping rescue robot by using a pneumatic cylinder. They developed the leg in rotor type robot which can use in flatted smooth surface (wheeled locomotion) and overcome the irregular surface (jumping locomotion)[9]. Meanwhile, Kondo et al. has developed the quadruped hopping robot which is using Central Pattern Generator (CPG)s to generate the continuous jumping performance while control the stability of body balance [10]. In this research, the generation of moving control by using the adaptive Central Pattern Generators ( CPGs) including mechanical dynamic models has been described for the developed multi-legged hopping robot. A new CPG model is proposed which the inhibitory neuron is replaced with the mechanical dynamic of multi-legged hopping robot including the actuator dynamics. By applying the mechanical dynamics of each leg into the CPG model, flexible periodic oscillation can be obtained because the motion feedback loop for the actuator is incorporated into the CPG. Therefore, the adaptive hopping mo-tion can be generated in various environments. On the other hand, the excitatory neuron of the proposed CPGs is mutually connected by the coupling parameters that can adjust the relative phase delay on each leg's locomotion. Moreover, the collaboration of CPG networks with the feedback control system which are composed the maximum hopping height detector and the Proportional Integral (PI) controller are designed into the developed control system. By adding the feedback loop through the feedback controller, the developed multi-legged hopping robot not only can generate the continuous hopping performances but also can control the reference hopping height. Furthermore, the reference height control system is used to set the reference height of each leg for the developed multi-legged hopping robot independently. By using the mentioned method, the posture of multi-legged hopping robot will incline ahead to the direction which it will move. On the other hand, the evaluation on effectiveness of Central Pattern Generator (CPG) network has been carried out to keep the stability of multi-legged hopping robot and avoiding it from tumble while moving ahead. This thesis consists with five chapters which is chapter 2 describes about the developed multi legged hopping robot including the basic knowledge of monopod hopping robot and its mathematical model. In addition, the introduction of developed quadruped and tripod hopping robot with all it parts and the experimental setup to realize the continuous hopping performances. Afterward, chapter 3 is the description of control system configuration which describes the Central Pattern Generators ( CPGs) and the proposed collaboration method in order to generate the moving and braking motion by using the reference height control system. Next on the chapter 4, the experimental results of each developed multi-legged hopping robot are shown and discussed. Finally, the conclusions of each experiment are described and following with the future tasks.

Item Type: Thesis (Masters)
Uncontrolled Keywords: Robots -- Control systems, Mobile robots, Robots, Robotics -- Research
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Library > Tesis > FKE
Depositing User: Nor Aini Md. Jali
Date Deposited: 09 Jul 2015 02:13
Last Modified: 09 Jul 2015 02:13
URI: http://eprints.utem.edu.my/id/eprint/14375

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