Dynamics, stability, and experimental results for a baton robot with double-action inertial actuation

• Published in: International journal of dynamics and control Vol. 6; no. 2; pp. 739 - 757
• Main Authors: Zoghzoghy, Joe, Hurmuzlu, Yildirim
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.06.2018; Springer Nature B.V
• Subjects: Actuation; Bifurcations; Complexity; Computer simulation; Control; Control and Systems Theory; Control methods; Dynamic stability; Dynamical Systems; Energy conservation; Engineering; Gait; Locomotion; Mathematical models; Nonlinear analysis; Parameter identification; Proportional integral derivative; Robots; Sliding mode control; Stability analysis; Vibration; Locomotion; Nonlinear dynamics; Inertial actuation; Robotics
• ISSN: 2195-268X; 2195-2698
• DOI: 10.1007/s40435-017-0336-4

In this study we consider a very simple, inertially driven locomotor. This system consists of two concentrated masses connected by a massless bar, which we call a baton. We first develop a mathematical model that simulates the planar dynamics of this system. We use spring legs to cushion the effect of impacts, and conserve the energy of the system. We also incorporate a new double-action inertial actuator to drive the system. The ensuing numerical analyses demonstrate that the baton system can generate four distinct gait patterns: dragging, tapping, galloping, and hopping. Nonlinear bifurcation and stability analyses are carried out to identify parameter intervals where each gait type appears and disappears. In addition, we implement two control methods: the proportional–integral–derivative control and the sliding mode control to regulate the motion of the spinning. Then, we present an experimental prototype called Pony III robot. Subsequently, we apply the control strategies to this prototype with the expectation that the robot will generate gait patterns similar to the numerical model. Experimental analyses reveal that the robot can indeed generate all of the four gait patterns with both of the control methods. We also demonstrate that Pony III can generate stable locomotion on regular as well as very low friction surfaces.