Contact processing within walking robots' design [article]

Mykhaylo Konyev, Universitäts- Und Landesbibliothek Sachsen-Anhalt, Martin-Luther Universität, Frank Palis, Ulrich Schmucker
<span title="2018-09-24">2018</span>
Contact Processing within Walking Robots' Design I I. Abstract This work is to deal with virtual and real development of walking robots. The work is divided in two parts -development of virtual environment for designing and investigation of walking robots, and detailed presentation of two walking robots -six-legged robot "ANTON" and biped robot "ROTTO". In the first part the contact processing, which is an important part of multi-domain simulation task is discussed in details. It includes
more &raquo; ... ion detection and contact response and is one of the most difficult, but most important areas in the simulation of the multibody systems. However, the most widespread multi-body simulators, like Matlab/SimMechanics, don't support the contact processing. Other multi-body simulators, like Vortex or ODE, support the contact processing, but are more limited in the rest of the functionality. This thesis presents the overview of the most popular techniques in the contact processing and the implementation of the chosen contact processing technique into Matlab/Simulink. The collision detection has been implemented using existing software tool Solid. The contact response for both contact phenomena -collision forces and friction forces -has been developed for the force-based approach. The functionality of the developed contact processing has been performed by the contact tasks of a sixlegged and biped robots as well as of a number of different geometrical objects and has been compared with experiment results. In the second part of this work a new improved six legged mobile robot "ANTON" and a new biped robot "ROTTO" are presented. Their mechanical structure, sensor system and control system are discussed in details. The hierarchically and modular build control algorithms are presented. The Software-in-the-Loop and Rapid Control Prototyping frameworks, which are used by robot development, are presented. An industrial Ethernet-based real-time communication protocol is introduced and the communication ability between the robot-side hardware and PC-side control system is investigated. Contact Processing within Walking Robots' Design II II. Acknowledgement This research work has been carried out within my Ph.D. student fellowship at the Institute of Electrical Power Systems Otto-von-Guericke University Magdeburg in cooperation with Fraunhofer Institute for Factory Operation and Automation IFF Magdeburg. I owe special thanks to Univ.-Prof. Dr.-Ing. habil. Dr.h.c. Frank Palis for support and help rendered to me on this work task organization. He showed me invaluable scientific and interpersonal aspects of research work. Also a note of thanks goes to Prof. Dr. sc. techn. Ulrich Schmucker for excellent support during the research work. My deep gratitude goes to the research Dr.-Ing. habil. Anatoliy Schneider, Dr.Ing. Yuriy Zavgorodniy, Dr.Ing. Vadym Rusin and the whole team of RobotsLab group (M.Sc. A.Melnykov, M.Sc. A.Rudskyy and M.Sc. A.Telesh) for an excellent team-work and invaluable directions that helped me completing this work. My appreciation and thanks to a group of qualified specialists of Institute of Electrical Power Systems and Fraunhofer Institute for Factory Operation and Automation IFF Magdeburg, for support and very good team work. And finally I send my love and thanks to my wife and my parents, without whom this work and my studies were impossible.
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