Name
Title | ||
|---|---|---|
A Policy For Open-Loop Attenuation Of Disturbance Effects Caused By Uncertain Ground Properties In Running |
Abstract | ||
|---|---|---|
Outside of the laboratory, accurate models of ground impact dynamics are either difficult or impossible to obtain. Instead, a rigid ground model is often used in gait and controller design, which simplifies the system model and allows attention to remain focused on other aspects of running. In real-world terrain this simplification may overlook important dynamic effects. Immediately following a foot touchdown event, sensitivity to ground stiffness is at its highest and at the same time the accuracies of state estimates are at their lowest. Even if ground stiffness is known and state estimates are accurate, actuator bandwidth limitations make immediate compensation difficult. Taking inspiration from nature, we propose a novel solution to attenuate the effects of unexpected ground stiffness changes using a unified control system comprised of hardware passive dynamics and open-loop software control policies. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363189 | PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 |
Keywords | Field | DocType |
control systems,stability,leg,attenuation,open loop systems,robots,system modeling,control system | Passive dynamics,Simulation,Stiffness,Control theory,Terrain,Touchdown,Control engineering,Control system,Engineering,Open-loop controller,System model,Actuator | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 |
Citations | PageRank | References |
3 | 0.49 | 1 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jonathan W. Hurst | 1 | 175 | 21.38 |
| Benjamin Morris | 2 | 127 | 6.57 |
| Joel E. Chestnutt | 3 | 218 | 14.78 |
| Alfred A. Rizzi | 4 | 1208 | 179.03 |