首页|Reports Summarize Robotics Study Results from Sao Paulo State University (UNESP) (Dynamic Modeling and Simulation of a Torque-controlled Spatial Quadruped Robot )
Reports Summarize Robotics Study Results from Sao Paulo State University (UNESP) (Dynamic Modeling and Simulation of a Torque-controlled Spatial Quadruped Robot )
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2024 OCT 03 (NewsRx)-By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Researchers detail new data in Robotic s. According to news originating from Sorocaba, Brazil, by NewsRx correspondents , research stated, "Evolution has shown that legged locomotion is most adequate for tasks requiring versatile movement on land, allowing animals to traverse a w ide variety of environments ranging from natural terrain to artificial, man-made landscapes with great ease. By employing well-designed control schemes, this ab ility could be replicated for legged robots, enabling them to be used in critica l situations that still pose great danger to human integrity, such as search and rescue missions, inspection of hazardous areas, and even space exploration." Our news journalists obtained a quote from the research from Sao Paulo State Uni versity (UNESP), "This work characterizes the quadruped robot and contact dynami cs that will compose our in-house simulator to be used for prototyping locomotio n control schemes applied to quadruped robots. The proposed simulator computes t he robot dynamics using the Recursive Newton-Euler and Composite-Rigid- Body algo rithms with a few modifications to make certain aspects relevant for contact det ection and control more easily accessible; furthermore, a compliant contact forc e method alongside stick-slip friction modeled the contact dynamics. To allow th e robot to move, a simple PD-independent joint controller was implemented to tra ck a desired leg trajectory. With the same robot and controller implemented usin g the MuJoCo simulation software, this work evaluates the proposed simulator by comparing characteristic locomotion signals such as the trunk pose and the groun d reaction forces. Results showed similar behavior for both simulators, especial ly with regard to the contact detection, despite the significantly different con tact models."
SorocabaBrazilSouth AmericaEmergin g TechnologiesMachine LearningNano-robotRobotRoboticsSao Paulo State U niversity (UNESP)
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