Summary
The paper presents some results in development of a jumping robot. Our research is conducted into the problem of changing mechanical impedance of driving system and its influence on features of a jump. After theoretical analysis and Matlab based simulations we have built a virtual model of a planar jumping robot with pneumatic driving system. The Working Model 2D (WM2D) software was employed for this task. Our investigations are focused on the stabilization of a robot’s body during flight. We present some stable jumps simulated in WM2D and controlled from Matlab. We show robustness of controller at various jumping conditions.
This work was supported by Ministry of Science and Higher Education under grant No 3 T11A 023 30.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Granosik, G.: Pneumatic Actuators for Climbing, Walking and Serpentine Robots. In: Habib, M. (ed.) Bioinspiration and robotics: Walking and Climbing Robots, pp. 483–510 (2007), ISBN 978-3-902613-15-8
Da̧browski, T., Feja, K., Granosik, G.: Biologically inspired control strategy of a pneumatically driven walking robot. In: CLAWAR conf., pp. 687–694 (2001)
Granosik, G., Kaczmarski, M.: Bellows driven, muscle steered caterpillar robot. In: Proc. CLAWAR Conf., pp. 743–750 (2005)
Jezierski, E., Mianowski, K., Collie, A.A.: ZarychtaD Design and control of a manipulator arm for a walking robot. In: Proc. of IEE Colloquium on Inf. Technology for Climbing and Walking Robots Digest, vol. 96/167, pp. 2/1–2/3 (1996)
Granosik, G.: An adaptive position/force control of a pneumatically driven manipulator, Ph.D. dissertation (in Polish), Inst. of Automatic Control, Tech. University of Lodz (2000)
Granosik, G., Borenstein, J.: Integrated joint actuator for serpentine robots. IEEE/ASME Trans. on Mechatronics 10, 473–481 (2005)
Granosik, G., Jezierski, E.: Application of a maximum stiffness rule for pneumatically driven legs of walking robot. In: Proc. CLAWAR Conf., pp. 213–218 (1999)
Jezierski, E.: From positional control of robots to impedance control (in Polish). In: Tchoń, K. (ed.) Postȩpy robotyki – sterowanie, percepcja, komunikacja, Warszawa, WKiŁ, pp. 13–36 (2006)
Raibert, M.H.: Legged robots that balance. MIT Press, Cambridge (1986)
Vanderborght, B., Verrelst, B., Van Ham, R., Van Damme, M., Lefeber, D., Meira, Y., Duran, B., Beyl, P.: Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators. The Int. Journal of Robotics Research 25(4), 343–358 (2006)
Jezierski, E.: On electrical analogues of mechanical systems and their using in analysis of robot dynamics. In: Kozłowski, K.R. (ed.) Robot Motion and Control – Recent Developments, Berlin, pp. 391–404. Springer, Heidelberg (2006)
Jezierski, E., Granosik, G.: Modeling and Control of Jumping Robot with Pneumatic Drive. In: 13th IEEE IFAC Int. Conf. on Methods and Models in Automation and Robotics, Szczecin, Poland, pp. 941–945 (2007)
Bobrow, J.E., McDonell, B.W.: Modelling, identification, and control of a pneumatically actuated, force controllable robot. IEEE Trans. on Robotics and Automation 14, 732–742 (1998)
Sang-Ho, H., Mita, T.: Development of a Biologically Inspired Hopping Robot - “Kenken”. In: Proc. of the 2002 IEEE Int. Conference on Robotics 8 Automation, Washington, DC (2002)
Granosik, G., Kaczmarski, M.: Simulation of jumping robot. In: 13th IEEE/IFAC Int. Conf. on Methods and Models in Automation and Robotics, Szczecin, Poland, pp. 1143–1148 (2007)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Granosik, G., Jezierski, E., Kaczmarski, M. (2008). Modeling, Simulation and Control of Pneumatic Jumping Robot. In: Bruyninckx, H., Přeučil, L., Kulich, M. (eds) European Robotics Symposium 2008. Springer Tracts in Advanced Robotics, vol 44. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78317-6_16
Download citation
DOI: https://doi.org/10.1007/978-3-540-78317-6_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-78315-2
Online ISBN: 978-3-540-78317-6
eBook Packages: EngineeringEngineering (R0)