SpringerLink
Log in

A self-propelled robotic system with a visco-elastic joint: dynamics and motion analysis

  • Original Article
  • Published:
Engineering with Computers Aims and scope Submit manuscript

Abstract

This paper studies the dynamics and motion generation of a self-propelled robotic system with a visco-elastic joint. The system is underactuated, legless and wheelless, and has potential applications in environmental inspection and operation in restricted spaces which are inaccessible to human beings, such as pipeline inspection, medical assistance and disaster rescue. Locomotion of the system relies on the stick–slip effects, which interacts with the frictional force of the surface in contact. The nonlinear robotic model utilizes combined tangential-wise and normal-wise vibrations for underactuated locomotion, which features a generic significance for the studies on self-propelled systems. To identify the characteristics of the visco-elastic joint and shed light on the energy efficacy, parameter dependences on stiffness and dam** coefficients are thoroughly analysed. Our studies demonstrate that the dynamic behaviour of the self-propelled system is mainly periodic and desirable forward motion is achieved via identification of the variation laws of the control parameters and elaborate selection of the stiffness and dam** coefficients. A motion generation strategy is developed, and an analytical two-stage motion profile is proposed based on the system response and dynamic constraint analysis, followed by a parameterization procedure to optimally generate the trajectory. The proposed method provides a novel approach in generating self-propelled locomotion, and designing and computing the visco-elastic parameters for energy efficacy. Simulation results are presented to demonstrate the effectiveness and feasibility of the proposed model and motion generation approach.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (United Kingdom)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14

Similar content being viewed by others

References

  1. Kong K, Bae J, Tomizuka M (2012) A compact rotary series elastic actuator for human assistive systems. IEEEASME Trans Mechatron 17:288–297

    Article  Google Scholar 

  2. Yu H, Huang S, Chen G et al (2015) Human–robot interaction control of rehabilitation robots with series elastic actuators. IEEE Trans Robot 31:1089–1100

    Article  Google Scholar 

  3. Paine N, Mehling JS, Holley J et al (2015) Actuator control for the NASA-JSC Valkyrie humanoid robot: a decoupled dynamics approach for torque control of series elastic robots. J Field Robot 32:378–396

    Article  Google Scholar 

  4. Khosravi MA, Taghirad HD (2014) Dynamic modeling and control of parallel robots with elastic cables: singular perturbation approach. IEEE Trans Robot 30:694–704

    Article  Google Scholar 

  5. Korayem MH, Yousefzadeh M, Beyranvand B (2017) Dynamics and control of a 6-dof cable-driven parallel robot with visco-elastic cables in presence of measurement noise. J Intell Robot Syst 88:73–95

    Article  Google Scholar 

  6. Elgammal AT, Fanni M, Mohamed AM (2017) Design and analysis of a novel 3d decoupled manipulator based on compliant pantograph for micromanipulation. J Intell Robot Syst 87:43–57

    Article  Google Scholar 

  7. Lam TL, Xu Y (2011) A flexible tree climbing robot: treebot-design and implementation. In: IEEE International Conference on Robotics and automation (ICRA), 2011. pp 5849–5854

  8. Liu P, Neumann G, Fu Q, et al (2018) Energy-efficient design and control of a vibro-driven robot. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp 1464–1469

  9. Grebenstein M, Chalon M, Friedl W et al (2012) The hand of the DLR hand arm system: designed for interaction. Int J Robot Res 31:1531–1555

    Article  Google Scholar 

  10. Kolhe JP, Shaheed M, Chandar TS, Talole SE (2013) Robust control of robot manipulators based on uncertainty and disturbance estimation. Int J Robust Nonlinear Control 23:104–122

    Article  MathSciNet  Google Scholar 

  11. Liu P, Yu H, Cang S (2018) Optimized adaptive tracking control for an underactuated vibro-driven capsule system. Nonlinear Dyn 94:1803–1817

    Article  Google Scholar 

  12. Liu P, Yu H, Cang S (2018) Trajectory synthesis and optimization of an underactuated microrobotic system with dynamic constraints and couplings. Int J Control Autom Syst 16:1–11

    Article  Google Scholar 

  13. Liu P, Yu H, Cang S (2018) On the dynamics of a vibro-driven capsule system. Arch Appl Mech 88:2199–2219

    Article  Google Scholar 

  14. Liu P, Yu H, Cang S (2019) Modelling and analysis of dynamic frictional interactions of vibro-driven capsule systems with viscoelastic property. Eur J Mech-ASolids 74:16–25

    Article  MathSciNet  Google Scholar 

  15. Buondonno G, Carpentier J, Saurel G, et al (2017) Actuator design of compliant walkers via optimal control. In: IEEE/RSJ International conference on intelligent robots and systems (IROS 2017), pp 7p

  16. Nguyen CH, Alici G, Mutlu R (2014) Modeling a soft robotic mechanism articulated with dielectric elastomer actuators. In: IEEE/ASME international conference on advanced intelligent mechatronics (AIM), 2014, pp 599–604

  17. Antoine GO, Batra RC (2015) Optimization of transparent laminates for specific energy dissipation under low velocity impact using genetic algorithm. Compos Struct 15:85. https://doi.org/10.1016/j.compstruct.2014.12.066

    Article  Google Scholar 

  18. Ruderman M (2012) Modeling of elastic robot joints with nonlinear dam** and hysteresis. Robot Syst Control Program 293–312

  19. Korayem MH, Rahimi HN, Nikoobin A (2012) Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints. Appl Math Model 36:3229–3244

    Article  MathSciNet  Google Scholar 

  20. Korayem MH, Ghariblu H, Basu A (2005) Dynamic load-carrying capacity of mobile-base flexible joint manipulators. Int J Adv Manuf Technol 25:62–70

    Article  Google Scholar 

  21. Korayem MH, Nekoo SR (2015) Finite-time state-dependent Riccati equation for time-varying nonaffine systems: rigid and flexible joint manipulator control. ISA Trans 54:125–144

    Article  Google Scholar 

  22. Korayem MH, Shafei AM (2013) Application of recursive Gibbs–Appell formulation in deriving the equations of motion of N-viscoelastic robotic manipulators in 3D space using Timoshenko beam theory. Acta Astronaut 83:273–294

    Article  Google Scholar 

  23. Liu P, Yu H, Cang S (2016) Modelling and dynamic analysis of underactuated capsule systems with friction-induced hysteresis. In: IEEE/RSJ international conference on intelligent robots and systems (IROS), 2016, pp 549–554

  24. Liu P, Yu H, Cang S (2018) Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property. Trans Inst Meas Control 40:2416–2427

    Article  Google Scholar 

  25. Huda MN, Yu H (2015) Trajectory tracking control of an underactuated capsubot. Auton Robots 39:183–198

    Article  Google Scholar 

  26. Pavlovskaia E, Hendry DC, Wiercigroch M (2015) Modelling of high frequency vibro-impact drilling. Int J Mech Sci 91:110–119

    Article  Google Scholar 

  27. Liu Y, Wiercigroch M, Pavlovskaia E, Yu H (2013) Modelling of a vibro-impact capsule system. Int J Mech Sci 66:2–11

    Article  Google Scholar 

  28. Huda MN, Yu H, Cang S (2014) Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot. IET Control Theory Appl 9:163–175

    Article  MathSciNet  Google Scholar 

  29. Olsson H, Åström KJ, Canudas de Wit C et al (1998) Friction models and friction compensation. Eur J Control 4:176–195. https://doi.org/10.1016/S0947-3580(98)70113-X

    Article  MATH  Google Scholar 

  30. Olfati-Saber R (2000) Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles. Massachusetts Institute of Technology, Cambridge

    Google Scholar 

  31. Yu H, Liu Y, Yang T (2008) Closed-loop tracking control of a pendulum-driven cart-pole underactuated system. Proc Inst Mech Eng Part J Syst Control Eng 222:109–125

    Article  Google Scholar 

Download references

Acknowledgements

This research was supported in part by the National Natural Science Foundation of China project (No. 61803396 and No. 61702454), and by the MOE (Ministry of Education in China) Project of Humanities and Social Sciences (No. 17YJC870018).

Author information

Authors and Affiliations

  1. Cardiff School of Technologies, Cardiff Metropolitan University, Cardiff, CF5 2YB, UK

    Pengcheng Liu

  2. School of Computing, Electronics and Mathematics, Coventry University, Coventry, CV1 5FB, UK

    M. Nazmul Huda

  3. Industrial Design Institute, Zhejiang University of Technology, Hangzhou, 310014, China

    Zhichuan Tang

  4. Oxford Robotics Institute, University of Oxford, Oxford, OX1 3PJ, UK

    Li Sun

Authors
  1. Pengcheng Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. M. Nazmul Huda
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zhichuan Tang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Li Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Pengcheng Liu.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Liu, P., Huda, M.N., Tang, Z. et al. A self-propelled robotic system with a visco-elastic joint: dynamics and motion analysis. Engineering with Computers 36, 655–669 (2020). https://doi.org/10.1007/s00366-019-00722-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00366-019-00722-3

Keywords

Search

Navigation