Legged vehicle control and vibration reduction

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper presents a design method of controller reducing the vibration of the upper body of a legged vehicle during locomotion. To design locomotion pattern generator, instead of using non-linear dynamics models and solving complex equations, the control strategy is simply based on the use of piecewise linear oscillators and a few parameters that can be easily obtained and tuned. In this research framework, we present tuning algorithms of both the rolling profile and the feedback controllers gains such that the mechanical vibration in the legged vehicle during locomotion is attenuated. As a result, stable and smooth locomotion is obtained. The effectiveness of the proposed method is demonstrated by experimental results.

Original languageEnglish
Pages (from-to)74-94
Number of pages21
JournalInternational Journal of Vehicle Noise and Vibration
Volume8
Issue number1
DOIs
Publication statusPublished - Mar 2012

Fingerprint

Controllers
Dynamic models
Tuning
Feedback

Keywords

  • Legged vehicle
  • Motionpattern generation
  • Rhythmic motion
  • Vibration reduction

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering

Cite this

Legged vehicle control and vibration reduction. / Zaier, Riadh; Abdo, Jamil.

In: International Journal of Vehicle Noise and Vibration, Vol. 8, No. 1, 03.2012, p. 74-94.

Research output: Contribution to journalArticle

@article{dcac382c54644655991285202f350fb5,
title = "Legged vehicle control and vibration reduction",
abstract = "This paper presents a design method of controller reducing the vibration of the upper body of a legged vehicle during locomotion. To design locomotion pattern generator, instead of using non-linear dynamics models and solving complex equations, the control strategy is simply based on the use of piecewise linear oscillators and a few parameters that can be easily obtained and tuned. In this research framework, we present tuning algorithms of both the rolling profile and the feedback controllers gains such that the mechanical vibration in the legged vehicle during locomotion is attenuated. As a result, stable and smooth locomotion is obtained. The effectiveness of the proposed method is demonstrated by experimental results.",
keywords = "Legged vehicle, Motionpattern generation, Rhythmic motion, Vibration reduction",
author = "Riadh Zaier and Jamil Abdo",
year = "2012",
month = "3",
doi = "10.1504/IJVNV.2012.046175",
language = "English",
volume = "8",
pages = "74--94",
journal = "International Journal of Vehicle Noise and Vibration",
issn = "1479-1471",
publisher = "Inderscience Enterprises Ltd",
number = "1",

}

TY - JOUR

T1 - Legged vehicle control and vibration reduction

AU - Zaier, Riadh

AU - Abdo, Jamil

PY - 2012/3

Y1 - 2012/3

N2 - This paper presents a design method of controller reducing the vibration of the upper body of a legged vehicle during locomotion. To design locomotion pattern generator, instead of using non-linear dynamics models and solving complex equations, the control strategy is simply based on the use of piecewise linear oscillators and a few parameters that can be easily obtained and tuned. In this research framework, we present tuning algorithms of both the rolling profile and the feedback controllers gains such that the mechanical vibration in the legged vehicle during locomotion is attenuated. As a result, stable and smooth locomotion is obtained. The effectiveness of the proposed method is demonstrated by experimental results.

AB - This paper presents a design method of controller reducing the vibration of the upper body of a legged vehicle during locomotion. To design locomotion pattern generator, instead of using non-linear dynamics models and solving complex equations, the control strategy is simply based on the use of piecewise linear oscillators and a few parameters that can be easily obtained and tuned. In this research framework, we present tuning algorithms of both the rolling profile and the feedback controllers gains such that the mechanical vibration in the legged vehicle during locomotion is attenuated. As a result, stable and smooth locomotion is obtained. The effectiveness of the proposed method is demonstrated by experimental results.

KW - Legged vehicle

KW - Motionpattern generation

KW - Rhythmic motion

KW - Vibration reduction

UR - http://www.scopus.com/inward/record.url?scp=84859415116&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84859415116&partnerID=8YFLogxK

U2 - 10.1504/IJVNV.2012.046175

DO - 10.1504/IJVNV.2012.046175

M3 - Article

VL - 8

SP - 74

EP - 94

JO - International Journal of Vehicle Noise and Vibration

JF - International Journal of Vehicle Noise and Vibration

SN - 1479-1471

IS - 1

ER -