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Design and verification of a parallel elastic robotic leg.
Tanfener, Emre; Karagöz, Osman Kaan; Candan, Sinan Sahin; Turgut, Ali Emre; Yazicioglu, Yigit; Ankarali, Mustafa Mert; Saranli, Uluç.
Afiliación
  • Tanfener E; Robotics and Artificial Intelligence Technologies Application and Research Center, Middle East Technical University, 06800 Ankara, Turkey.
  • Karagöz OK; Defense Systems Technologies Division, Aselsan Inc., 06200 Ankara, Turkey.
  • Candan SS; Robotics and Artificial Intelligence Technologies Application and Research Center, Middle East Technical University, 06800 Ankara, Turkey.
  • Turgut AE; Electrical and Electronics Engineering Department, Middle East Technical University, 06800 Ankara, Turkey.
  • Yazicioglu Y; Mechanical Engineering Department, Middle East Technical University, 06800 Ankara, Turkey.
  • Ankarali MM; Department of Biomedical Engineering, University of Wisconsin-Madison, Madison, WI, United States of America.
  • Saranli U; Robotics and Artificial Intelligence Technologies Application and Research Center, Middle East Technical University, 06800 Ankara, Turkey.
Bioinspir Biomim ; 19(2)2024 Feb 21.
Article en En | MEDLINE | ID: mdl-38286005
ABSTRACT
This paper presents the design and experimental verification of a parallel elastic robotic leg mechanism that aims to capture the dynamics of the linear mass-spring-damper model. The mechanism utilizes a wrapping cam mechanism to linearize the non-linear force resulting from the elongation of the parallel elastic element. Firstly, we explain the desired dynamics of the mass-spring-damper model, including the impact transitions, and the design of the wrapping cam mechanism. We then introduce a system identification procedure to estimate the parameters of the leg mechanism corresponding to the dynamic model. The estimated parameters are tested with a cross-validation approach to evaluate the mechanism's performance in tracking the desired model. The experimental results show that the passive dynamics of the mechanism resemble the linear model as intended. Thus, the robot provides a basis for using parallel elastic actuation while using model-based controllers that benefit the analytic solutions of the linear model.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Robótica / Procedimientos Quirúrgicos Robotizados Idioma: En Revista: Bioinspir Biomim Asunto de la revista: BIOLOGIA / ENGENHARIA BIOMEDICA Año: 2024 Tipo del documento: Article País de afiliación: Turquía Pais de publicación: Reino Unido
Texto completo
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Robótica / Procedimientos Quirúrgicos Robotizados Idioma: En Revista: Bioinspir Biomim Asunto de la revista: BIOLOGIA / ENGENHARIA BIOMEDICA Año: 2024 Tipo del documento: Article País de afiliación: Turquía Pais de publicación: Reino Unido