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Exploiting adaptable passive behaviour to influence natural dynamics applied to legged robots

Published online by Cambridge University Press:  11 March 2005

Björn Verrelst ,
Ronald Van Ham ,
Bram Vanderborght ,
Jimmy Vermeulen ,
Dirk Lefeber  and
Frank Daerden
Björn Verrelst
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
Ronald Van Ham
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
Bram Vanderborght
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
Jimmy Vermeulen
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
Dirk Lefeber
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
Frank Daerden
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
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Abstract

This paper reports on the use of a particular actuator in the field of legged robots. The proposed actuator, the Pleated Pneumatic Artificial Muscle, has some interesting characteristics which makes it suitable for machines which move by means of legs. An important issue is the actuator's adaptable passive behaviour which allows the stiffness of a joint that is actuated by two antagonistically coupled muscles, to be varied online. The natural frequency of the system can thus be changed in order to reduce control efforts and energy consumption. The idea of changing this natural frequency in combination with trajectory control will be implemented on a two-dimensional leg model. It will be shown that an appropriate choice of compliance can strongly reduce the amount of needed control activity and energy consumption while tracking a given trajectory.

Keywords

Legged robotsPneumatic artificial musclePassive/Active control
Type
Research Article
Information
Robotica , Volume 23 , Issue 2 , March 2005 , pp. 149 - 158
Copyright
© 2005 Cambridge University Press

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