Evaluating the Mechanical Redesign of a Biped Walking Robot Using Experimental Modal Analysis

Tobias F.C. Berninger, Philipp Seiwald, Felix Sygulla, Daniel J. Rixen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

Structural dynamics can have a significant influence on the performance of robots. This has already been extensively shown for robot manipulators. In a previous work, we have also shown this for our biped walking robot Lola. Vibration issues caused by the mechanical structure of Lola are visible in the joint controllers and are limiting the performance of her walking and balancing controllers. We showed this by measuring the open-loop transfer functions of these controllers and linking the dynamics of the control plant to the structural dynamics of Lola by comparing the results to an Experimental Modal Analysis. The knowledge gained from this analysis influenced the redesign of Lola’s upper-body structure. In this work, we will show the benefits gained from the new mechanical design by performing and comparing the same tests as done in our previous work.

Original languageEnglish
Title of host publicationTopics in Modal Analysis and Testing, Volume 8 - Proceedings of the 39th IMAC, A Conference and Exposition on Structural Dynamics 2021
EditorsBrandon J. Dilworth, Michael Mains
PublisherSpringer
Pages45-52
Number of pages8
ISBN (Print)9783030759957
DOIs
StatePublished - 2022
Event39th IMAC, A Conference and Exposition on Structural Dynamics, 2021 - Virtual, Online
Duration: 8 Feb 202111 Feb 2021

Publication series

NameConference Proceedings of the Society for Experimental Mechanics Series
ISSN (Print)2191-5644
ISSN (Electronic)2191-5652

Conference

Conference39th IMAC, A Conference and Exposition on Structural Dynamics, 2021
CityVirtual, Online
Period8/02/2111/02/21

Keywords

  • Experimental modal analysis
  • Humanoid robot
  • Mechanical design
  • Robotics
  • Structural dynamics

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