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Design and Control of Handspring Robot Using Geometric Control

Faghih Imani, Hossein | 2019

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 52447 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasti, Aria; Salarieh, Hassan
  7. Abstract:
  8. Living creatures have a significant ability to move on various surfaces and to pass obstacles and because of this many robots have been made by inspiring their moving mechanisms. One of these mechanisms that is sometimes ignored because of its nonlinear dynamics and instability and hybrid dynamics of system, is jumping mechanism. In this project a two dimensional multi-legged jumping robot is designed that can jump, do a handspring during jump and land on its other side keeping balanced. The robot moves forward by repeating such procedure. Doing a handspring instead of normal jump uses less energy.This robot uses geometric control method to handspring during flight. This method ables robot to change its orientation by changing its geometry or internal angles in a cyclic way without any external torques or momentum wheels. Two methods were used to make the robot do the desired motion. In the first method for every phase of motion some constraints were found which forcing robot’s positions and velocities to those constraints results in doing a handspring. Then a cost function consisting of the constraints’ error and the energy consumption was optimized using genetic algorithm. In the second method it was shown that the length and height of jump and the angular momentum could be independently controlled. The trajectory of motion was found using these parameters and was tracked by the robot using a PID controller. The effectiveness of controller was verified using a virtual sample model. At last the robot can jump with desired velocity and angular momentum, do a handspring during flight and move forward repeating this cycle
  9. Keywords:
  10. Jumping Handspring Robot ; Hybrid System ; Geometric Control ; Genetic Algorithm ; Proportional-Integral-Derivative (PID)Controller

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