Concurrent design of controller and passive elements for robots with impulsive actuation systems

摘要

There are some biological evidences showing that the actuation system in legged animals is impulsive; it is not continuous. As opposed to continuous control/actuation, the control actions occur in specific intervals, and from the instant of one actuation until the start of the next one, passive elements guarantee the stability of the robotic system and govern its natural dynamics. In this paper, we present an analytical method for concurrent design of impulsive controller and passive elements (compliance and damper) for robotic systems; e.g., manipulators and legged-robots. To optimize the force profiles of passive elements, three different cost functions are presented which optimize the natural dynamics and energy consumption of the robot. The presented method can be applied to both cyclic and non-cyclic (explosive) tasks so as to attain energy efficient and bio-inspired motions. The method is applied to three biological models: a simulated human arm for throwing an object, a swing leg for drawing an oval, and a 3D quadruped robot for performing walking gait. Our findings in the simulation studies are in line with the hypothesis of impulsive actuation in nature and show the applicability of our method in robotics.