Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

• Tipo: Artigo em Revista Científica Internacional
• Data: 2021

Autores

Vítor H. Pinto (Autor) FEUP; José Gonçalves (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP

Revista

Título: Actuators

Vol. 10

Páginas: 1-23

Editora: MDPI

Indexação

ISI Web of Knowledge - 5 Citações

Scopus - 5 Citações

Outras Informações

ID Authenticus: P-00T-D28

DOI: 10.3390/act10020029

Abstract (EN): This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle's locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system's stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system's design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 23