Просмотр исходного текста страницы Нога робота с плетеными пневматическим приводами

== ПЕРЕВОДИМ_Оглавление ==

Оглавление

Благодарности

Аннотация
 
[[Глава I. ВВЕДЕНИЕ]]
:1.1 Background 
:1.2 Purpose and Overview 

Глава II. Braided Pneumatic Actuators  
:2.1 Physical Characteristics
:2.2 Geometric and Static Model
:2.3 Static Model Verification
:2.4 Dynamic Model

Глава III. Simulation
:3.1 Simulation Overview
:3.2 Equations of Motion
:3.3 Valve Model
:3.4 Dynamic Model Verification 

Глава IV. Robot Hardware 
:4.1 System Overview 
:4.2 Leg Design 
:4.3 Valves
:4.4 Force Sensors 
:4.5 Angle Sensors

Глава V. Control
:5.1 Control Architecture and Control Laws
:5.2 Control Program
:5.3 Inverse Kinematics

Глава VI. Results and Discussion
:6.1 Desired Walking Behavior
:6.2 Tuning 
:6.3 Walking Results 
:6.4 Robot Limitations
:6.5 Derivative Control

Глава VII. Conclusion 
:7.1 It Walks!
:7.2 Semi-Observed Speculation
:7.3 Future work 

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Приложение A: Simulation Code 
:A.1 Actuator.cpp 

Приложение B: Controller Code 
:B.1 Control.cpp 
:B.2 Def.h
:B.3 Hardware.cpp
:B.4 Predict.dat
:B.5 Gain.dat

Приложение C: Robot Hardware
:C.1 Strain Gage Amplifier 
:C.2 Wiring
:C.3 Mechanical Drawings

'''Литература'''
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'''Список таблиц'''

:Таблица 4.1 : Transducer sensitivity and error
:Таблица 6.1 : Joint range of motion 
:Таблица 6.2 : Time parameters for walking motion
:Таблица 6.3 : Walking motion control gains
:Таблица 6.4 : Passivity and average duty cycles of each valve

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'''Список иллюстраций'''
:Иллюстрация 1.1 : Dimensionless force-length properties of actuators and biological muscles 
:Иллюстрация 2.1 : Photograph of inflated and uninflated actuators
:Иллюстрация 2.2 : Actuator dimensions 
:Иллюстрация 2.3 : Geometric schematic of actuators
:Иллюстрация 2.4 : Mesh geometry
:Иллюстрация 2.5 : Revised actuator geometry schematic 
:Иллюстрация 2.6 : Pressure, Length, Force, Stiffness Relationship for a BPA
:Иллюстрация 2.7 : Static model verification schematic
:Иллюстрация 2.8 : Plot of Force vs. Length for a BPA with constant internal mass of air 
:Иллюстрация 2.9 : Pressure Increase vs. Length – constant mass system
:Иллюстрация 2.10 : Plot of Force vs. Length – constant air mass – Exp. vs. Theor. results 
:Иллюстрация 2.11 : Plot of Effectiveness vs. Pressure
:Иллюстрация 2.12 : Plot of Force vs. Length – Exp. vs. Theor. Results – (effectiveness)
:Иллюстрация 2.13 : Plot of Force vs. Length – Constant Pressure System
:Иллюстрация 2.14 : Dynamic model schematic
:Иллюстрация 3.1 : Simulation overview schematic 
:Иллюстрация 3.2 : Detailed simulation schematic 
:Иллюстрация 3.3 : Actuator equation of motion schematic 
:Иллюстрация 3.4 : Flow curve for Matrix 758 3-way valve
:Иллюстрация 3.5 : Dynamic model verification schematic 
:Иллюстрация 3.6 : Length vs. Time – 60 psi constant mass – 6 lb load - measured 
:Иллюстрация 3.7 : Length vs. Time – 60 psi constant mass – 6 lb load - simulation
:Иллюстрация 3.8 : Length vs. Time – 80 psi constant mass – 11 lb load - measured 
:Иллюстрация 3.9 : Length vs. Time – 80 psi constant mass – 11 lb load - simulation
:Иллюстрация 3.10 : Length vs. Time – 60 psi constant mass – 11 lb load - measured 
:Иллюстрация 3.11 : Length vs. Time – 60 psi constant mass – 11 lb load - simulation
:Иллюстрация 3.12 : PWM valve model verification schematic
:Иллюстрация 3.13 : Commanded vs. Actual duty cycles – Matrix 758 3-way valve
:Иллюстрация 3.14 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 5 lb load - measured
:Иллюстрация 3.15 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 5 lb load - simulation
:Иллюстрация 3.16 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 1 lb load - measured
:Иллюстрация 3.17 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 1 lb load - simulation
:Иллюстрация 3.18 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 15 lb load - measured
:Иллюстрация 3.19 : Length vs. Time – 100 psi - 25 Hz, 50% PWM – 15 lb load - simulation
:Иллюстрация 3.20 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 1 lb load - measured
:Иллюстрация 3.21 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 1 lb load - simulation
:Иллюстрация 3.22 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 5 lb load - measured
:Иллюстрация 3.23 : Length vs. Time – 100 psi - 50 Hz, 50% PWM – 5 lb load - simulation
:Иллюстрация 4.1 : Robot hardware schematic
:Иллюстрация 4.2 : Photograph of robot 
:Иллюстрация 4.3 : CAD model and photograph of robot leg
:Иллюстрация 4.4 : CAD model and photograph of hip translational joint 
:Иллюстрация 4.5 : CAD model and photograph of hip rotational joint
:Иллюстрация 4.6 : Schematic of inlet valve
:Иллюстрация 4.7 : Schematic of exhaust valve 
:Иллюстрация 4.8 : Current vs. time for inlet valve
:Иллюстрация 4.9 : Current vs. time for exhaust valve 
:Иллюстрация 4.10 : Force sensor classic analysis schematic 
:Иллюстрация 4.11 : Force sensor FEA results
:Иллюстрация 4.12 : Photograph of force sensors
:Иллюстрация 4.13 : Photograph of strain gage amplifier 
:Иллюстрация 4.14 : Transducer calibration plot
:Иллюстрация 4.15 : Photograph of completed force measurement system
:Иллюстрация 4.16 : Photograph of completed angle measurement systems 
:Иллюстрация 5.1 : Labeled schematic of a joint
:Иллюстрация 5.2 : Block diagram of the control algorithm
:Иллюстрация 5.3 : ISR schematic 
:Иллюстрация 5.4 : Inverse kinematics schematic 
:Иллюстрация 6.1 : Desired foot positions for walking motion
:Иллюстрация 6.2 : Sequential video frames of the leg during walking motion
:Иллюстрация 6.3 : Desired and actual x-y foot paths: Test 1 
:Иллюстрация 6.4 : Desired and actual joint angles vs. time: Test 1 
:Иллюстрация 6.5 : Actuator force vs. time 
:Иллюстрация 6.6 : Desired and actual joint stiffness vs. time 
:Иллюстрация 6.7 : Joint torque vs. time
:Иллюстрация 6.8 : Ground reaction forces during walking vs. time 
:Иллюстрация 6.9 : Trolley motion vs. time
:Иллюстрация 6.10 : Hip joint valve duty cycles vs. time
:Иллюстрация 6.11 : Knee joint valve duty cycles vs. time 
:Иллюстрация 6.12 : Desired and actual joint angles vs. time: Test 2 
:Иллюстрация 6.13 : Desired and actual x-y foot paths: Kicking motion
:Иллюстрация 6.14 : Desired and actual joint angles vs. time: Kicking motion
:Иллюстрация 6.15 : Calculated angular velocity vs. time
:Иллюстрация 6.14 : Desired and actual joint angles vs. time: Derivative control
:Иллюстрация 7.1 : Desired and actual x-y foot paths: Angle feedback only

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