Discretized Mid-Value CLVI-PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot
The two most important performance indicators of quadruped robot are load capacity and walking speed, and these performance indicators of the whole robot finally reflect on the joint torques and angular velocities. To satisfy different requirements of walking speed and load capacity when quadruped r...
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| Published in | Mathematical problems in engineering Vol. 2019; no. 2019; pp. 1 - 13 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Cairo, Egypt
Hindawi Publishing Corporation
01.01.2019
Hindawi John Wiley & Sons, Inc |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1024-123X 1563-5147 |
| DOI | 10.1155/2019/5071254 |
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| Abstract | The two most important performance indicators of quadruped robot are load capacity and walking speed, and these performance indicators of the whole robot finally reflect on the joint torques and angular velocities. To satisfy different requirements of walking speed and load capacity when quadruped robots implement different tasks, the joint torques and angular velocities need to be balanced with physical constraints of the joints. A single leg with redundant DOF (degree of freedom) could optimize the distribution of joint torques or angular velocities based on different performance requirements. This paper presents a kind of new recurrent neural networks taking joint torques and angular velocities simultaneously into consideration and proposes mid-value CLVI-PDNN to achieve the optimal joint torques and angular velocities with physical constraints of the mechanism as described in our previous paper. Because the continuous mid-value CLVI-PDNN has difficulty in real-time operation because of too much calculation workload, two kinds of methods are proposed to discretize the mid-value CLVI-PDNN for application on computer or digital circuit. The simulation results demonstrate the efficacy of the algorithm proposed in this paper. |
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| AbstractList | The two most important performance indicators of quadruped robot are load capacity and walking speed, and these performance indicators of the whole robot finally reflect on the joint torques and angular velocities. To satisfy different requirements of walking speed and load capacity when quadruped robots implement different tasks, the joint torques and angular velocities need to be balanced with physical constraints of the joints. A single leg with redundant DOF (degree of freedom) could optimize the distribution of joint torques or angular velocities based on different performance requirements. This paper presents a kind of new recurrent neural networks taking joint torques and angular velocities simultaneously into consideration and proposes mid‐value CLVI‐PDNN to achieve the optimal joint torques and angular velocities with physical constraints of the mechanism as described in our previous paper. Because the continuous mid‐value CLVI‐PDNN has difficulty in real‐time operation because of too much calculation workload, two kinds of methods are proposed to discretize the mid‐value CLVI‐PDNN for application on computer or digital circuit. The simulation results demonstrate the efficacy of the algorithm proposed in this paper. |
| Author | Ma, Hongxu Zhang, Taihui An, Honglei Rao, Jinhui |
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| Cites_doi | 10.1007/BF00245422 10.1109/TCSI.2008.2007065 10.1109/IROS.2012.6386156 10.1109/TNNLS.2014.2342260 10.1109/TSMCB.2009.2034073 10.1109/TNNLS.2012.2223484 10.1002/(SICI)1097-4563(199603)13:3<177::AID-ROB5>3.3.CO;2-I 10.1152/jn.00582.2007 10.1007/s10846-013-9816-8 10.1007/s00422-004-0491-5 10.1109/72.728385 10.1007/s00521-010-0445-x 10.1139/tcsme-2007-0028 10.1109/IROS.2010.5649095 10.1016/j.neucom.2008.07.008 10.1109/TNN.2010.2049368 10.1007/978-3-540-30301-5 10.1109/TSMCB.2012.2210038 10.1007/s10589-015-9777-x 10.1109/TRO.2011.2135230 10.1177/1729881417731897 10.1162/pres.1996.5.4.393 10.1007/978-3-319-22873-0_25 10.1109/TNNLS.2015.2435014 10.1007/s10846-005-9000-x 10.1109/TNN.2003.810607 10.1007/978-3-642-37518-7 10.1515/jiip-2015-0047 10.1109/TRO.2011.2142450 10.1109/TRA.2002.801046 10.1016/j.neucom.2011.06.003 10.1007/978-981-10-0072-0_84 10.1007/s11075-010-9410-0 10.1016/j.neucom.2012.05.012 10.1016/j.mechatronics.2008.04.005 10.1177/0278364912469821 10.1109/TRO.2008.2003266 10.1109/CCRA.2016.7811428 10.5772/54823 |
| ContentType | Journal Article |
| Copyright | Copyright © 2019 Jinhui Rao et al. Copyright © 2019 Jinhui Rao et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0 |
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| SubjectTerms | Algorithms Angular speed Angular velocity Computer simulation Control algorithms Degrees of freedom Digital computers Digital electronics Distance learning Indicators Kinematics Methods Neural networks Optimization Quadratic programming Real time operation Recurrent neural networks Redundancy Researchers Robots Torque Velocity Walking Workload |
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| Title | Discretized Mid-Value CLVI-PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot |
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