Numerical investigation and experimental verification of the proposed robot leg virtual model

Abstract

Modeling and simulation studies are significant in the early stages of the design process, since there is no prototype. For instance, dynamic systems such as control systems can be developed rapidly and effectively with the simulation studies. However, the validity of the results obtained from the simulation studies performed with the dynamic model should be verified before deepening the design studies. After all, the accuracy of the results of the performed simulations depends on the accuracy of the obtained model. In this paper, studies on the numerical analysis of the proposed leg model to be used in a quadruped robot, and experimental verification of the dynamic model obtained by this means are presented. In this context, a simulation model has been constructed by using the physical and mathematical model that includes all the major components of the proposed robot leg in order to evaluate the performances of different algorithms in the design studies. In order to evaluate the validity of the simulation model, a series of tests were carried out on the experimental setup and the obtained results were demonstrated both numerically and graphically. According to the obtained results, it was seen that the built simulation model was valid, and matched with the real system and its physical trends. Finally, after discussing the reliability and validity of the proposed robot leg experimental and simulation setup, low-level components affecting controller performance in hydraulically actuated robots are discussed and recommendations made.