MATHEMATICAL MODEL FOR WALKING ROBOT WITH SHAPE MEMORY ALLOY ANKLE

Anca Petrişor, Nicu George Bîzdoacă, Daniela Roşca, Sonia Degeratu, Adrian Roşca, Raducu Petrisor

Abstract

The paper presents a simultaneous force and length variation mode in shape memory alloy (SMA) robotic application. The robotic ankle contains four SMA actuators and a spherical articulation. In order to assure a high efficient robotic architecture, the mechanical and the control structure have to assure a real-time response to the work environment changes. The load variations or the difference between the moment of full contact step and the non contact moment for a waking robot are the standard situations for a SMA robotic ankle. The paper is divided in five sections. First section makes a short introduction in the physical description and conventional applications of shape memory alloy materials. Then, are presented the mathematical model for robotic ankle, the walking robot geometrical structure and the causality ordering of the active pair of legs, in this case with one free joint. In the last section some experimental results are presented. These results were obtained by using MATLAB programs, conceived by authors, for design and simulation of walking robots control algorithms.

References

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  9. Figure 8: Joints positions with respect to the input angle.
  10. Figure 9: Reference point O0 locus in evolution scene.
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Paper Citation


in Harvard Style

Petrişor A., George Bîzdoacă N., Roşca D., Degeratu S., Roşca A. and Petrisor R. (2007). MATHEMATICAL MODEL FOR WALKING ROBOT WITH SHAPE MEMORY ALLOY ANKLE . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 319-322. DOI: 10.5220/0001626703190322


in Bibtex Style

@conference{icinco07,
author={Anca Petrişor and Nicu George Bîzdoacă and Daniela Roşca and Sonia Degeratu and Adrian Roşca and Raducu Petrisor},
title={MATHEMATICAL MODEL FOR WALKING ROBOT WITH SHAPE MEMORY ALLOY ANKLE},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={319-322},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001626703190322},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MATHEMATICAL MODEL FOR WALKING ROBOT WITH SHAPE MEMORY ALLOY ANKLE
SN - 978-972-8865-83-2
AU - Petrişor A.
AU - George Bîzdoacă N.
AU - Roşca D.
AU - Degeratu S.
AU - Roşca A.
AU - Petrisor R.
PY - 2007
SP - 319
EP - 322
DO - 10.5220/0001626703190322