Sensitivity of balancing in legged systems under torque constraint variations

Carlos Gonzalez, Carlotta Mummolo, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The balancing capabilities of a legged system can be influenced by several properties of the system itself, for instance, the strength of joint motors in a robot or muscle strength in living systems. In this work, the changes in the balancing capabilities of a legged system are evaluated as the joint actuator torque limits of the system change. The legged system is modeled with an inverted pendulum model with an actuated ankle and a finite foot size. The effect of variations of the ankle torque limits on the system balance stability is quantified through the local properties of Lagrange multipliers in optimization theory and are validated through numerical experiments. With the proposed method, the information on the balance stability boundary of a legged system is used to predict the balance stability characteristics of the system with altered joint torque limits, hence providing quantifiable guidelines to the design of such systems.

Original languageEnglish (US)
Title of host publication42nd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851814
DOIs
StatePublished - 2018
EventASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada
Duration: Aug 26 2018Aug 29 2018

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B-2018

Other

OtherASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
CountryCanada
CityQuebec City
Period8/26/188/29/18

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

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