Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion
This paper describes the analysis, design, and implementation of an under-actuated robot control system for swing up motion. The robot, called the “Mag-Foot” robot, uses permanent magnets to adhere to steel surfaces. This robot uses a novel tilting foot design for locomotion and can swing over small...
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| Format: | Article |
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American Society of Mechanical Engineers
2018
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| Online Access: | http://hdl.handle.net/1721.1/118793 https://orcid.org/0000-0002-1695-7312 https://orcid.org/0000-0003-3155-6223 |
| _version_ | 1826200347020886016 |
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| author | Mazumdar, Anirban Asada, Haruhiko |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Mazumdar, Anirban Asada, Haruhiko |
| author_sort | Mazumdar, Anirban |
| collection | MIT |
| description | This paper describes the analysis, design, and implementation of an under-actuated robot control system for swing up motion. The robot, called the “Mag-Foot” robot, uses permanent magnets to adhere to steel surfaces. This robot uses a novel tilting foot design for locomotion and can swing over small obstacles using an underactuated swinging motion. Since the robot can only adhere to the surface using limited (and relatively small) magnetic forces, it may fall down due to the reaction forces caused by the swing- up motion. To prevent failure, an optimal swing up trajectory is designed so that the maximum reaction force during the trajectory is minimized. The trajectories are parameterized using sigmoids and are determined by solving the dynamic equations as a 2 point boundary value problem. Finally, experiments are performed to evaluate the validity of this approach. The results of these experiments are promising and illustrate the validity of our approach. Topics: Motion, Robots, Optimal control |
| first_indexed | 2024-09-23T11:35:03Z |
| format | Article |
| id | mit-1721.1/118793 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T11:35:03Z |
| publishDate | 2018 |
| publisher | American Society of Mechanical Engineers |
| record_format | dspace |
| spelling | mit-1721.1/1187932022-09-27T20:31:28Z Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion Mazumdar, Anirban Asada, Haruhiko Massachusetts Institute of Technology. Department of Mechanical Engineering Mazumdar, Anirban Asada, Haruhiko This paper describes the analysis, design, and implementation of an under-actuated robot control system for swing up motion. The robot, called the “Mag-Foot” robot, uses permanent magnets to adhere to steel surfaces. This robot uses a novel tilting foot design for locomotion and can swing over small obstacles using an underactuated swinging motion. Since the robot can only adhere to the surface using limited (and relatively small) magnetic forces, it may fall down due to the reaction forces caused by the swing- up motion. To prevent failure, an optimal swing up trajectory is designed so that the maximum reaction force during the trajectory is minimized. The trajectories are parameterized using sigmoids and are determined by solving the dynamic equations as a 2 point boundary value problem. Finally, experiments are performed to evaluate the validity of this approach. The results of these experiments are promising and illustrate the validity of our approach. Topics: Motion, Robots, Optimal control Boeing Company National Science Foundation (U.S.). Graduate Research Fellowship Program 2018-10-30T13:52:17Z 2018-10-30T13:52:17Z 2009-10 2018-10-23T14:49:25Z Article http://purl.org/eprint/type/ConferencePaper 978-0-7918-4893-7 978-0-7918-3860-0 http://hdl.handle.net/1721.1/118793 Mazumdar, Anirban, and H. Harry Asada. “Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion.” ASME 2009 Dynamic Systems and Control Conference, Volume 2, 12-14 October, 2009, Hollywood, California, ASME, 2009, pp. 755–62. © 2009 by ASME https://orcid.org/0000-0002-1695-7312 https://orcid.org/0000-0003-3155-6223 http://dx.doi.org/10.1115/DSCC2009-2591 ASME 2009 Dynamic Systems and Control Conference, Volume 2 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf American Society of Mechanical Engineers ASME |
| spellingShingle | Mazumdar, Anirban Asada, Haruhiko Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion |
| title | Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion |
| title_full | Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion |
| title_fullStr | Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion |
| title_full_unstemmed | Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion |
| title_short | Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion |
| title_sort | optimal control of a magnetically suspended under actuated robot for swing up motion |
| url | http://hdl.handle.net/1721.1/118793 https://orcid.org/0000-0002-1695-7312 https://orcid.org/0000-0003-3155-6223 |
| work_keys_str_mv | AT mazumdaranirban optimalcontrolofamagneticallysuspendedunderactuatedrobotforswingupmotion AT asadaharuhiko optimalcontrolofamagneticallysuspendedunderactuatedrobotforswingupmotion |