Unpowered and Underactuated Hopping for Legged-Robot Locomotion
P. Vivekananda Shanmuganathan, Ph.D.
Erasmus Mundus Academic Staff, Dipartimento di Meccanica, Politecnico di Milano
DEIB - Seminar Room
June 30th, 2016
2.30 pm
Contact:
Luca Bascetta
Research Line:
Robotics and industrial automation
Erasmus Mundus Academic Staff, Dipartimento di Meccanica, Politecnico di Milano
DEIB - Seminar Room
June 30th, 2016
2.30 pm
Contact:
Luca Bascetta
Research Line:
Robotics and industrial automation
Sommario
Robots for real life environments need to meet several factors:
In the past few decades, the focus of research in legged robots was on factors 1- 4 individually or accounted one or more of them.
On the other hand, dexterity and quick response are an essential part of dynamical interactions associated with realistic applications and for emulation of biological manipulation and mobility.
Modeling and simulation of robot dynamics is useful in evolving dexterous robots. Study of the stability issues arising out of nonlinear nature of robot dynamics helps in devising robots that are dexterous, energy-efficient, and optimally-designed.
The talk will focus on the unpowered and underactuated motion of single-legged robot. The talk will thus show how an innovative change in design could result in useful dynamic behavior of the robot.
A methodology for searching for trajectories for passive motion (unpowered motion) and underactuated motion (requiring fewer actuators) at least for a part of the motion cycle is discussed. The complexity in analyzing such a motion with an additional link in the leg configuration and a heuristic method that results in a periodic motion is highlighted.
- innovative and conceptual design1,
- engineering design to realise the robot as a mechanical device2,
- sensory capabilities3,
- intelligence4 for multisensor fusion and decisioning and, above all,
- the ability to respond dexterously5 in a shorter time6 and consuming less power7.
In the past few decades, the focus of research in legged robots was on factors 1- 4 individually or accounted one or more of them.
On the other hand, dexterity and quick response are an essential part of dynamical interactions associated with realistic applications and for emulation of biological manipulation and mobility.
Modeling and simulation of robot dynamics is useful in evolving dexterous robots. Study of the stability issues arising out of nonlinear nature of robot dynamics helps in devising robots that are dexterous, energy-efficient, and optimally-designed.
The talk will focus on the unpowered and underactuated motion of single-legged robot. The talk will thus show how an innovative change in design could result in useful dynamic behavior of the robot.
A methodology for searching for trajectories for passive motion (unpowered motion) and underactuated motion (requiring fewer actuators) at least for a part of the motion cycle is discussed. The complexity in analyzing such a motion with an additional link in the leg configuration and a heuristic method that results in a periodic motion is highlighted.
Biografia
Dr. P. Vivekananda Shanmuganathan received his
After his PhD, Dr Vivek joined VIT University.
• He is currently Professor of Mechanical Engineering.
• He has been with VIT for the past 13 years,
• Mainly associated with the Master’s Programmes in Mechatronics and Automotive Engineering.
• He has been Coordinator of PG Programmes and Divison Leader (Mechatronics).
Dr Vivek has been instrumental in getting VIT University into international academic partnerships under Erasmus Mundus, Erasmus+ and STINT programmes with
Dr Vivek has consulted for a project related to modeling of a dual-arm manipulator on army tank and for design improvement of packaging machinery.
He also received a DST funding of Rs 21.67 lakhs for the studies on using biosignals for robotic prosthetic device.
Dr Vivek's research interests are:
- B.E. in Mechanical Engineering from Madurai Kamaraj University,
- M.E. in Computer-Integrated Manufacturing from PSG College of Technology, Coimbatore, and
- Ph.D. from IIT Bombay on Underactuated hopping motion of Single- Legged robots.
After his PhD, Dr Vivek joined VIT University.
• He is currently Professor of Mechanical Engineering.
• He has been with VIT for the past 13 years,
• Mainly associated with the Master’s Programmes in Mechatronics and Automotive Engineering.
• He has been Coordinator of PG Programmes and Divison Leader (Mechatronics).
Dr Vivek has been instrumental in getting VIT University into international academic partnerships under Erasmus Mundus, Erasmus+ and STINT programmes with
- Ecole Centrale, France;
- Politecnico di Milano, Italy;
- University of Pavia, Italy;
- Riga Technical University, Latvia;
- Aristotle University of Thesseloniki, Greece; and
- University West, Sweden.
Dr Vivek has consulted for a project related to modeling of a dual-arm manipulator on army tank and for design improvement of packaging machinery.
He also received a DST funding of Rs 21.67 lakhs for the studies on using biosignals for robotic prosthetic device.
Dr Vivek's research interests are:
- Robotics and Multi-Body Systems,
- Vision,
- Haptics, and
- Tribology of Silicon Surfaces used in MEMS.
