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| Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate | |
| Roberts, Sonia; Koditschek, Daniel E. | |
| 通讯作者 | Roberts, S (corresponding author), Univ Penn, Elect & Syst Engn, Philadelphia, PA 19104 USA. |
| 会议名称 | IEEE International Conference on Robotics and Automation (ICRA) |
| 会议日期 | MAY 20-24, 2019 |
| 会议地点 | Montreal, CANADA |
| 英文摘要 | We work with geoscientists studying erosion and desertification to improve the spatial and temporal resolution of their data collection over long transects in difficult real-world environments such as deserts [1]. The Minitaur [2] robot, which can run quickly over uneven terrain and use a single leg to measure relevant ground properties such as stiffness [3], is an attractive scout robot candidate for inclusion in a heterogeneous team in collaboration with a heavily geared, sensor-laden RHex [4]. However, Minitaur is challenged by long-distance locomotion on sand dunes. Previous simulation results [5] suggested that the energetic cost of transport can be mitigated by programming a virtual damping force to slow the intrusion of a Minitaur foot into simulated granular media following a bulk-behavior force law [6]. In this paper, we present a ground emulator that can be used to test such locomotion hypotheses with a physical single-legged hopper jumping on emulated ground programmed to exhibit any compliance and damping characteristics of interest. The new emulator allows us to corroborate the conclusions of our previous simulation with physical hopping experiments. Programming the substrate emulator to exhibit the mechanics of a simplified bulk-behavior model of granular media characterized by linear stiffness and quadratic damping, we achieve a consistent energy savings of 20% in comparison with a nominal controller, with savings of up to 50% under specific conditions. |
| 来源出版物 | 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
| ISSN | 1050-4729 |
| EISSN | 2577-087X |
| 出版年 | 2019 |
| 页码 | 6763-6769 |
| ISBN | 978-1-5386-6026-3 |
| 出版者 | IEEE |
| 类型 | Proceedings Paper |
| 语种 | 英语 |
| 开放获取类型 | Green Submitted |
| 收录类别 | CPCI-S |
| WOS记录号 | WOS:000494942305001 |
| WOS类目 | Automation & Control Systems ; Robotics |
| WOS研究方向 | Automation & Control Systems ; Robotics |
| 资源类型 | 会议论文 |
| 条目标识符 | http://119.78.100.177/qdio/handle/2XILL650/370167 |
| 作者单位 | [Roberts, Sonia; Koditschek, Daniel E.] Univ Penn, Elect & Syst Engn, Philadelphia, PA 19104 USA |
| 推荐引用方式 GB/T 7714 | Roberts, Sonia,Koditschek, Daniel E.. Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate[C]:IEEE,2019:6763-6769. |
| 条目包含的文件 | 条目无相关文件。 | |||||
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