Authors:
Nicu George Bîzdoacă
1
;
Anca Petrişor
1
;
Hani Hamdan
2
and
Khalid Al Mutib
3
Affiliations:
1
University of Craiova, Faculty of Automation, Computers and Electronics, Romania
;
2
SUPELEC, France
;
3
King Saud University, College of Computer and Information Sciences, Saudi Arabia
Keyword(s):
Robotics, Biomimetic approach, Control strategy, Stable state transition.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control solutions regarding balance and locomotion of robotic systems. A first goal of the work consists in identifying solutions necessary to balance the individual systems. Research has been focused both on systems with a single foot, but also on biped, tripods, quadrupeds, hexapods and octopods. Static balance is achieved by a proper mechanical design (Bizdoaca and Petrisor, 2009), but also by a corresponding load / tensioning actuators systems that can compensate for inertial elements that can lead to system stability limit. Theoretical studies have been focused on developing an efficient stepping algorithm in environment with strong uncertainties, known as SSTA algorithm. The article present a series of experiments made with servo actuated and smart actuated (based on shap
e memory alloy, especially) walking biomimetic structures.
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