Controlling a Low Cost Bang Bang Pneumatic Monopod
To date there have been great advances in the legged robotics community. However, these platforms are extremely costly to develop and require complex controllers to perform agile motion, limiting their research to well funded institutions, or purely simulation based studies. This research focuses o...
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| Format: | Article |
| Language: | English |
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South African Institute of Electrical Engineers
2024-02-01
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| Series: | Africa Research Journal |
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| Online Access: | https://journals.uj.ac.za/index.php/SAIEE/article/view/1227 |
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| author | Callen Fisher Jacques Meyer |
| author_facet | Callen Fisher Jacques Meyer |
| author_sort | Callen Fisher |
| collection | DOAJ |
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To date there have been great advances in the legged robotics community. However, these platforms are extremely costly to develop and require complex controllers to perform agile motion, limiting their research to well funded institutions, or purely simulation based studies. This research focuses on an extremely low cost robotic monopod platform that consists of a high powered servo motor as well as a pneumatic actuator. Due to the on/off (bang bang) nature of pneumatics, the platform is challenging to mathematically model. Using a reduced order model of the pneumatic actuator, trajectory optimization methods were implemented to generate acceleration, steady-state and deceleration trajectories. These were then analyzed and a simple state machine controller was developed to implement these trajectories on the robotic platform, with comparisons to the simulation results. In order to test the capabilities of the monopod robot, the above method was further extended with the robot running on multiple different surfaces (hard surface as well as two different gravel surfaces). Results are promising and reveal that simple models and controllers are sufficient to generate stable transient motions for a legged robot running on non-uniform terrain.
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| format | Article |
| id | doaj-art-04f781c509094da3a9c88c18e6858a1c |
| institution | Kabale University |
| issn | 1991-1696 |
| language | English |
| publishDate | 2024-02-01 |
| publisher | South African Institute of Electrical Engineers |
| record_format | Article |
| series | Africa Research Journal |
| spelling | doaj-art-04f781c509094da3a9c88c18e6858a1c2025-01-10T08:58:38ZengSouth African Institute of Electrical EngineersAfrica Research Journal1991-16962024-02-011134Controlling a Low Cost Bang Bang Pneumatic MonopodCallen Fisher0https://orcid.org/0000-0002-2777-3674Jacques Meyera:1:{s:5:"en_US";s:23:"university of cape town";} To date there have been great advances in the legged robotics community. However, these platforms are extremely costly to develop and require complex controllers to perform agile motion, limiting their research to well funded institutions, or purely simulation based studies. This research focuses on an extremely low cost robotic monopod platform that consists of a high powered servo motor as well as a pneumatic actuator. Due to the on/off (bang bang) nature of pneumatics, the platform is challenging to mathematically model. Using a reduced order model of the pneumatic actuator, trajectory optimization methods were implemented to generate acceleration, steady-state and deceleration trajectories. These were then analyzed and a simple state machine controller was developed to implement these trajectories on the robotic platform, with comparisons to the simulation results. In order to test the capabilities of the monopod robot, the above method was further extended with the robot running on multiple different surfaces (hard surface as well as two different gravel surfaces). Results are promising and reveal that simple models and controllers are sufficient to generate stable transient motions for a legged robot running on non-uniform terrain. https://journals.uj.ac.za/index.php/SAIEE/article/view/1227Legged robotMonopodtrajectory optimization |
| spellingShingle | Callen Fisher Jacques Meyer Controlling a Low Cost Bang Bang Pneumatic Monopod Africa Research Journal Legged robot Monopod trajectory optimization |
| title | Controlling a Low Cost Bang Bang Pneumatic Monopod |
| title_full | Controlling a Low Cost Bang Bang Pneumatic Monopod |
| title_fullStr | Controlling a Low Cost Bang Bang Pneumatic Monopod |
| title_full_unstemmed | Controlling a Low Cost Bang Bang Pneumatic Monopod |
| title_short | Controlling a Low Cost Bang Bang Pneumatic Monopod |
| title_sort | controlling a low cost bang bang pneumatic monopod |
| topic | Legged robot Monopod trajectory optimization |
| url | https://journals.uj.ac.za/index.php/SAIEE/article/view/1227 |
| work_keys_str_mv | AT callenfisher controllingalowcostbangbangpneumaticmonopod AT jacquesmeyer controllingalowcostbangbangpneumaticmonopod |