Paper Info
Title
Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation.
Abstract
The paper presents a new control law to initiate and stop a sequence of repetitive jumps in elastically actuated legged robots. The control approach relies on three control strategies, which are effectively combined to realize the task: hierarchical task space decomposition, balancing force redistribution and energy regulation. A toy example motivates the interconnection of the three parts, while an experimental evaluation is used to corroborate the effectiveness of the controller on a complex biped robot.
Year
DOI
Venue
2017
10.1007/978-3-319-89327-3_3
Springer Proceedings in Advanced Robotics
Keywords
DocType
Volume
Humanoid robots,Task hierarchy control,Balancing control,Energy control,Jumping robots
Conference
7
ISSN
Citations 
PageRank 
2511-1256
0
0.34
References 
Authors
0
2
Name
Order
Citations
PageRank
Gianluca Garofalo1447.11
Christian Ott21527128.37