Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics
Hopping is a complicated dynamic behaviour in the animal kingdom. Development of a hopping machine that can mimic the biomechanics of jumping in Homo sapiens is envisioned. In this context, the design, development and control of a cost-effective, pneumatically actuated, one-legged hopping machine we...
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| Format: | Article |
| Language: | English |
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Wiley
2010-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320903239454 |
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| author | Kuldip Naik Mehran Mehrandezh John Barden |
| author_facet | Kuldip Naik Mehran Mehrandezh John Barden |
| author_sort | Kuldip Naik |
| collection | DOAJ |
| description | Hopping is a complicated dynamic behaviour in the animal kingdom. Development of a hopping machine that can mimic the biomechanics of jumping in Homo sapiens is envisioned. In this context, the design, development and control of a cost-effective, pneumatically actuated, one-legged hopping machine were initiated at the University ofRegina in 2005. The pneumatic actuator has a simple design that employs an off-the-shelf on/off control valve which regulates the air pressure supplied to the hopper's body using a pulse width modulated (PWM) signal. The objective is to maintain a constant jumping height in the hopper after going through a finite number of hopping cycles. The mechanistic model of the system was investigated in full detail. This model facilitates: (1) the design of the actuating system, and (2) the synthesis and verification of different control strategies in a simulation environment prior to implementation in the real world. The movement of the hopper is supported by a vertical slide; therefore, the hopper can only jump in place. However, the proposed control strategy and the propulsion unit can be further utilised for stable hopping in a 3-D environment. A model-free Neuro-PD controller was then designed, trained and implemented on a real system. Simulation and experimentation showed promising results. This system can be used as an educational tool for teaching real-time control of hybrid and non-linear systems. It can be also used as a biomechatronics test bed to simulate the effect of different timings in firing action potentials in jump-causing leg muscles on achieving a desired jumping height in the animal kingdom. |
| format | Article |
| id | doaj-art-e2751c3f5bf84bfcb399ebef99371f6c |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2010-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-e2751c3f5bf84bfcb399ebef99371f6c2025-02-03T01:00:29ZengWileyApplied Bionics and Biomechanics1176-23221754-21032010-01-0171839410.1080/11762320903239454Design, Development and Control of a Hopping Machine – an Exercise in BiomechatronicsKuldip Naik0Mehran Mehrandezh1John Barden2iQmetrix, Regina, SK, CanadaFaculty of Engineering, University of Regina, CanadaFaculty of Kinesiology and Health Studies, University of Regina, CanadaHopping is a complicated dynamic behaviour in the animal kingdom. Development of a hopping machine that can mimic the biomechanics of jumping in Homo sapiens is envisioned. In this context, the design, development and control of a cost-effective, pneumatically actuated, one-legged hopping machine were initiated at the University ofRegina in 2005. The pneumatic actuator has a simple design that employs an off-the-shelf on/off control valve which regulates the air pressure supplied to the hopper's body using a pulse width modulated (PWM) signal. The objective is to maintain a constant jumping height in the hopper after going through a finite number of hopping cycles. The mechanistic model of the system was investigated in full detail. This model facilitates: (1) the design of the actuating system, and (2) the synthesis and verification of different control strategies in a simulation environment prior to implementation in the real world. The movement of the hopper is supported by a vertical slide; therefore, the hopper can only jump in place. However, the proposed control strategy and the propulsion unit can be further utilised for stable hopping in a 3-D environment. A model-free Neuro-PD controller was then designed, trained and implemented on a real system. Simulation and experimentation showed promising results. This system can be used as an educational tool for teaching real-time control of hybrid and non-linear systems. It can be also used as a biomechatronics test bed to simulate the effect of different timings in firing action potentials in jump-causing leg muscles on achieving a desired jumping height in the animal kingdom.http://dx.doi.org/10.1080/11762320903239454 |
| spellingShingle | Kuldip Naik Mehran Mehrandezh John Barden Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics Applied Bionics and Biomechanics |
| title | Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics |
| title_full | Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics |
| title_fullStr | Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics |
| title_full_unstemmed | Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics |
| title_short | Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics |
| title_sort | design development and control of a hopping machine an exercise in biomechatronics |
| url | http://dx.doi.org/10.1080/11762320903239454 |
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