This technology introduces a virtual spring model to control critical vibration behavior during the hopping motion of legged mobile robots. Based on the law of conservation of energy, it calculates virtual spring constants (kv1, kv2) for both ideal and actual conditions, and executes a control algorithm that determines the driving force (F) of the linear actuator by summing these values.
Controlling the critical vibration behavior of legged mobile robots requires accounting for both the total kinetic and potential energy of the system, which complicates the energy calculation process and presents computational challenges in reflecting all physical factors.
This technology employs a drive control device and algorithm that calculates the virtual spring constant for ideal conditions (kv1) and the virtual spring constant for actual conditions reflecting energy loss (kv2), then determines the final driving force (F = (kv1 + kv2)c) based on the robot's actual contraction displacement (c) to transmit to the linear actuator. Applicable to logistics transport, service robots, and autonomous platforms, it improves the control of critical vibration behavior and simplifies the energy calculation process for legged mobile robots.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of upper-limb rehabilitation robot technology using EXG for cognitive/motor rehabilitation of patients with upper-limb paralysis.
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