Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization
This paper presents the design of a four degree-of-freedom (DoF) spatial tail and demonstrates the dynamic stabilization of a bipedal robotic platform through a hardware-in-loop simulation. The proposed tail design features three active revolute joints with an active prismatic joint, the latter of w...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-10-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/5/4/55 |
| _version_ | 1827703591354236928 |
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| author | Xinran Wang Hailin Ren Anil Kumar Pinhas Ben-Tzvi |
| author_facet | Xinran Wang Hailin Ren Anil Kumar Pinhas Ben-Tzvi |
| author_sort | Xinran Wang |
| collection | DOAJ |
| description | This paper presents the design of a four degree-of-freedom (DoF) spatial tail and demonstrates the dynamic stabilization of a bipedal robotic platform through a hardware-in-loop simulation. The proposed tail design features three active revolute joints with an active prismatic joint, the latter of which provides a variable moment of inertia. Real-time experimental results validate the derived mathematical model when compared to simulated reactive moment results, both obtained while executing a pre-determined trajectory. A 4-DoF tail prototype was constructed and the tail dynamics, in terms of reactive force and moments, were validated using a 6-axis load cell. The paper also presents a case study where a zero moment point (ZMP) placement-based trajectory planner, along with a model-based controller, was developed in order for the tail to stabilize a simulated unstable biped robot. The case study also demonstrates the capability of the motion planner and controller in reducing the system’s kinetic energy during periods of instability by maintaining ZMP within the support polygon of the host biped robot. Both experimental and simulation results show an improvement in the tail-generated reactive moments for robot stabilization through the inclusion of prismatic motion while executing complex trajectories. |
| first_indexed | 2024-03-10T15:21:09Z |
| format | Article |
| id | doaj.art-da59019e1f0f4c9e81c6afe0945265fc |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-10T15:21:09Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-da59019e1f0f4c9e81c6afe0945265fc2023-11-20T18:29:00ZengMDPI AGBiomimetics2313-76732020-10-01545510.3390/biomimetics5040055Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic StabilizationXinran Wang0Hailin Ren1Anil Kumar2Pinhas Ben-Tzvi3Mechanical Engineering, Robotics and Mechatronics Lab, Virginia Tech, Blacksburg, VA 24060, USAMechanical Engineering, Robotics and Mechatronics Lab, Virginia Tech, Blacksburg, VA 24060, USAMechanical Engineering, Robotics and Mechatronics Lab, Virginia Tech, Blacksburg, VA 24060, USAMechanical Engineering, Robotics and Mechatronics Lab, Virginia Tech, Blacksburg, VA 24060, USAThis paper presents the design of a four degree-of-freedom (DoF) spatial tail and demonstrates the dynamic stabilization of a bipedal robotic platform through a hardware-in-loop simulation. The proposed tail design features three active revolute joints with an active prismatic joint, the latter of which provides a variable moment of inertia. Real-time experimental results validate the derived mathematical model when compared to simulated reactive moment results, both obtained while executing a pre-determined trajectory. A 4-DoF tail prototype was constructed and the tail dynamics, in terms of reactive force and moments, were validated using a 6-axis load cell. The paper also presents a case study where a zero moment point (ZMP) placement-based trajectory planner, along with a model-based controller, was developed in order for the tail to stabilize a simulated unstable biped robot. The case study also demonstrates the capability of the motion planner and controller in reducing the system’s kinetic energy during periods of instability by maintaining ZMP within the support polygon of the host biped robot. Both experimental and simulation results show an improvement in the tail-generated reactive moments for robot stabilization through the inclusion of prismatic motion while executing complex trajectories.https://www.mdpi.com/2313-7673/5/4/55robotic tailvariable inertiaZMPdynamic stabilization |
| spellingShingle | Xinran Wang Hailin Ren Anil Kumar Pinhas Ben-Tzvi Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization Biomimetics robotic tail variable inertia ZMP dynamic stabilization |
| title | Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization |
| title_full | Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization |
| title_fullStr | Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization |
| title_full_unstemmed | Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization |
| title_short | Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization |
| title_sort | design and analysis of a variable inertia spatial robotic tail for dynamic stabilization |
| topic | robotic tail variable inertia ZMP dynamic stabilization |
| url | https://www.mdpi.com/2313-7673/5/4/55 |
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