TY - GEN
T1 - Sensitivity of balancing in legged systems under torque constraint variations
AU - Gonzalez, Carlos
AU - Mummolo, Carlotta
AU - Kim, Joo H.
N1 - Publisher Copyright:
Copyright © 2018 ASME
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
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U2 - 10.1115/DETC2018-86063
DO - 10.1115/DETC2018-86063
M3 - Conference contribution
AN - SCOPUS:85057138116
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 42nd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
Y2 - 26 August 2018 through 29 August 2018
ER -