Tendons and toes [electronic resource] : experimentation and simulation of TRIP JR, an articulated robotic leg
- Linus J. Park.
- Physical description
- 1 online resource.
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|3781 2016 P||In-library use|
- Park, Linus J.
- Waldron, Kenneth J., primary advisor.
- Cutkosky, Mark R., advisor.
- Mitiguy, Paul, advisor.
- Stanford University. Department of Mechanical Engineering.
- One of legged robotic locomotion's greatest advantages over other forms of robotic locomotion is the ability to traverse a variety of terrains at a variety of speeds. This includes bipedal humanoid robots that are designed to exist in the world that we live in, from our homes to disaster areas. However, despite numerous advances in the field, there remains to be seen a humanoid robot capable of transitioning seamlessly between walking, running, sprinting and jumping gaits in all three dimensions. TRIP JR, a pneumatically actuated articulated robotic leg with multiarticular tendons and an articulated toe capable of performing single non-consecutive hops in 1-D, was built by the author to explore the potential for using tendons and toes in legged robotic design. Two novel multiarticular tendon systems are introduced along with an articulated toe/metatarsal-jointed foot design, whose benefits to one dimensional hopping are shown through experimentally validated results. Additionally, a fully integrated dynamic computer simulation of TRIP JR involving pneumatic modeling, ground contact/friction modeling and discontinuous event handling was developed by the author to further explore and understand one dimensional hopping. A simplified airflow model for efficient optimization through simulation is introduced and validated. The overall system simulation results demonstrate robustness and good correlation with multiple experimental datasets, each of which includes pressure, joint angle, and hip height data and some including ground reaction force data, taken from testing with TRIP JR. The advantages shown in using tendons and toes in articulated robotic legs and the ability to create experimentally validated simulations of legged robots add to the tools available to roboticists for future designs and research in the field.
- Publication date
- Submitted to the Department of Mechanical Engineering.
- Thesis (Ph.D.)--Stanford University, 2016.
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