adp_laufrobotik:adp_2013
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
| Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
| adp_laufrobotik:adp_2013 [28.11.2013 01:46] – [Exisiting demonstrators] Fabian Zwetsch | adp_laufrobotik:adp_2013 [27.11.2022 23:55] (aktuell) – Externe Bearbeitung 127.0.0.1 | ||
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| ====== Demonstrator ====== | ====== Demonstrator ====== | ||
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| + | ^ Thema | Demonstrator | | ||
| + | ^ Veranstaltung | [[: | ||
| + | ^ Semester | SS 2012/13 | | ||
| + | ^ Namen | Hammen, F., Spring, B., Lahnstein, J., Zwetsch, F., [[: | ||
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| ===== Introduction ===== | ===== Introduction ===== | ||
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| ==== Marco Hopper ==== | ==== Marco Hopper ==== | ||
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| The construction and the design of the two-legged robots are limited by certain characteristics of | The construction and the design of the two-legged robots are limited by certain characteristics of | ||
| engines, such as the torque, the rotational speed or the friction caused by the material. | engines, such as the torque, the rotational speed or the friction caused by the material. | ||
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| To improve the efficiency and stability of gait (e.g. walking, running, jumping), more often springlike | To improve the efficiency and stability of gait (e.g. walking, running, jumping), more often springlike | ||
| structures in walking robots are installed. It is assumed that mainly the tendons of the biological | structures in walking robots are installed. It is assumed that mainly the tendons of the biological | ||
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| findings show that simulated reflex controlled muscles may behave like a spring, although the tendon | findings show that simulated reflex controlled muscles may behave like a spring, although the tendon | ||
| is completely stiff. Therefore, a quasi-elastic behaviour of the limbs does not necessarily require | is completely stiff. Therefore, a quasi-elastic behaviour of the limbs does not necessarily require | ||
| - | passive-elastic structures within the body. Seyfarth et al. presented in their paper [SKG07] the | + | passive-elastic structures within the body. Seyfarth et al. presented in their paper [[adp_laufrobotik: |
| Marco Hopper Robot to pursue the question whether a pattern can arise from pure muscle reflex | Marco Hopper Robot to pursue the question whether a pattern can arise from pure muscle reflex | ||
| activity that is similar to the hopping pattern of a one-legged jump with contact and flight phase. | activity that is similar to the hopping pattern of a one-legged jump with contact and flight phase. | ||
| Marco consists of a body and a motor driven leg, which can be moved in vertical direction. | Marco consists of a body and a motor driven leg, which can be moved in vertical direction. | ||
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| <imgref image3> shows the technical implementation of the Marco Hopper. A sledge representing the | <imgref image3> shows the technical implementation of the Marco Hopper. A sledge representing the | ||
| body slides up and down on ball bearings on a vertical ramp. A rigid leg segment is attached to the | body slides up and down on ball bearings on a vertical ramp. A rigid leg segment is attached to the | ||
| Zeile 137: | Zeile 141: | ||
| Adiprene, a strongly absorbing material, is attached. This damper reduces the impact on the ground | Adiprene, a strongly absorbing material, is attached. This damper reduces the impact on the ground | ||
| [[adp_laufrobotik: | [[adp_laufrobotik: | ||
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| < | < | ||
| {{ : | {{ : | ||
| </ | </ | ||
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| The inertia of the sledge is increased by the inertia of the motor to 1.9 kg. In addition, a friction | The inertia of the sledge is increased by the inertia of the motor to 1.9 kg. In addition, a friction | ||
| force acts at 6 N. This means that the motor makes the leg section with respect to the sledge to a | force acts at 6 N. This means that the motor makes the leg section with respect to the sledge to a | ||
| very inert and rigid gadget. This illustrates the fact that the leg segment, pulled by gravity to the | very inert and rigid gadget. This illustrates the fact that the leg segment, pulled by gravity to the | ||
| bottom, remains liable if the motor moves upwards. Three sensors detect the status of the Marco: | bottom, remains liable if the motor moves upwards. Three sensors detect the status of the Marco: | ||
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| * A POSIMAG system measures the vertical position of the sledge | * A POSIMAG system measures the vertical position of the sledge | ||
| * An acceleration sensor measures the acceleration | * An acceleration sensor measures the acceleration | ||
| * A corresponding strain gauge on the bottom plate measures the contact force | * A corresponding strain gauge on the bottom plate measures the contact force | ||
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| The length of the leg segment is calculated via numerical integration [[adp_laufrobotik: | The length of the leg segment is calculated via numerical integration [[adp_laufrobotik: | ||
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| Studies with the hopper show how stable hopping can be generated in a robot leg: It demands that | Studies with the hopper show how stable hopping can be generated in a robot leg: It demands that | ||
| the energy lost is replaced. This can be done in several ways. The common feature of the models | the energy lost is replaced. This can be done in several ways. The common feature of the models | ||
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| would be the best decision in this case, too, because it has a big part on the squad. | would be the best decision in this case, too, because it has a big part on the squad. | ||
| + | {{indexmenu_n> | ||
adp_laufrobotik/adp_2013.1385599576.txt.gz · Zuletzt geändert: 27.11.2022 23:54 (Externe Bearbeitung)