Jumping Robots and Locomotion
Inertially Actuated Locomotion Robot
Assoc. Prof. Dr. Eng. Amir R. Ali
Prof. Dr. Eng. Imam Morgan
Eng. Malek Mahmoud
Eng. M.Sc. Khaled Al Agha (2019)
Mohamed Oraby, B.Sc. (2017)
Nour Ali, B.Sc. (2016)
Khaled Enany, B.Sc. (2016)
Mohamed Zahran, B.Sc. (2016)
Brief description for the project:
In recent years, the world has been searching for power saving techniques and trying to
get alternative techniques. Some scientists are trying to use the environment in producing energy and power to operate every appliance or machine even in generation of electricity. These scientists use the sun, wind and water to generate power. Some other scientists tried using simpler applications like Inertia. The inertia was used to get forces or power from simple applications like pendulums. In this project, Pendulums are used as inertial application. The robot that is represented has pendulums that control its locomotion. A model of baton robot is used which is one of the families of robots of category of Quadrupedal robot. Baton robot modeling is very simple, it consists of masses connected with each other using mass-less rod. The project is to make a double-action inertially actuated baton robot. The robot to be made contains four pendulums ,one in each side of the robot, that controls its motion. Each two opposite pendulums are opposite in direction. The robot have one locomotion gain which is tapping and it can move in all directions. For straight movement, all pendulums have the same angular velocity. While moving to the left, the angular velocity of the right side pendulums is greater than the left ones and vice versa. The robot has also springs in each leg to help the robot to make the motions using
the inertia generated from the weights of the pendulums. The motion is originally generated due to the resultant forces of the 4 pendulums. Each two opposite pendulums should intersect at a certain angle called "Randez-Vous angle" which causes the force to have components in the x-axis and y-axis that can make the robot move to a certain direction.
Challenges of the project:
The robot control is ready to be modified and improve the control. The nonlinear controller should be done as the system is non-holonomic so it needs a nonlinear control to be sure that the response is correct and this controller will improve the control response greatly. In addition, GPS location ,vision using camera and object avoided are important add-ins to be done in the controller to make the robot an autonomous robot. Leg configurations study will be a new start to improve the motion and getting a better robot. Voice command will be a great add-in to the robot as it responds to the voices and changing the motions with a voice command. Finally, the controller can be modified by adding the ability to track objects and go to the location and by the help of the object avoided and the visual recognition system the controller will be easier and reaching the target will be accurate.