Name
Title | ||
|---|---|---|
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL |
Abstract | ||
|---|---|---|
A mathematical formalism for designing running gaits in bipedal robots with compliance is introduced and subsequently validated experimentally on MABEL, a planar biped that contains springs in its drivetrain. The methods of virtual constraints and hybrid zero dynamics are used to design a time-invariant feedback controller that respects the natural compliance of the open-loop system. In addition, it also enables active force control within the compliant hybrid zero dynamics allowing within-stride adjustments of the effective stance leg stiffness. The proposed control strategy was implemented on and resulted in a kneed-biped running record of 3.06 m/s (10.9 kph or 6.8 mph). |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1177/0278364912473344 | I. J. Robotic Res. |
Keywords | Field | DocType |
bipedal robots,running,hybrid systems,zero dynamics,compliance,force control | Embedding,Feedback controller,Simulation,Control theory,Running record,Control engineering,Planar,Drivetrain,Robot,Hybrid system,Formalism (philosophy of mathematics),Mathematics | Journal |
Volume | Issue | ISSN |
32 | 3 | 0278-3649 |
Citations | PageRank | References |
30 | 1.25 | 26 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Koushil Sreenath | 1 | 358 | 33.41 |
| Hae-Won Park | 2 | 226 | 11.65 |
| Ioannis Poulakakis | 3 | 500 | 43.01 |
| J. w. Grizzle | 4 | 2188 | 215.15 |