DocumentCode
3136630
Title
Method of 3-step switching for tri-ped robot using piezo actuator
Author
Chen, Ping-Ho ; Liu, Ru-Feng ; Lian, Kuang-Yow
Author_Institution
Dept. of Electr. Eng., Tungnan Univ., Taipei, Taiwan
fYear
2012
fDate
5-8 Aug. 2012
Firstpage
2192
Lastpage
2197
Abstract
This paper develops a method of 3-step switching for a tri-ped (or tri-legged) robot using three piezo actuators. Each piezo actuator is of linear type driven by a piezo disk, a mechanism and a controller. Three piezo actuators individually drive three legs of the robot via P-R-R joints and links. The robot is able to move in any direction by an approach of 3-step switching based on stiffness rebalance. Analysis shows that inverse kinematics is better than forward kinematics to generate the command of 3-step switching by a back-propagation neural network.
Keywords
actuators; backpropagation; control engineering computing; elasticity; legged locomotion; neural nets; robot kinematics; 3-step switching; backpropagation neural network; inverse kinematics; piezo actuator; piezo disk; stiffness rebalance; tri-legged robot; tri-ped robot; Actuators; Joints; Kinematics; Neural networks; Robots; Switches; Vectors; 3-step; Back-propagation neural network; Inverse kinematics; P-R-R; Piezo actuator;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location
Chengdu
Print_ISBN
978-1-4673-1275-2
Type
conf
DOI
10.1109/ICMA.2012.6285683
Filename
6285683
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