NDLI: Force control for planar spring-mass running

Content Provider	IEEE Xplore Digital Library
Author	Koepl, Devin Hurst, Jonathan
Copyright Year	2011
Description	Author affiliation: Oregon State Univ., USA (Koepl, Devin; Hurst, Jonathan)
Abstract	In this paper, we present a novel control strategy for spring-mass running gaits which is robust to disturbances, while still utilizing the passive dynamic behavior of the mechanical model for energy economy. Our strategy combines two ideas: a flight phase strategy, which commands a hip angle trajectory prior to touchdown, and a stance phase strategy, which treats the spring-mass system as a force-controlled actuator and commands forces according to an ideal model of the passive dynamics. This combined strategy is self-stable for changes in ground height or ground impedance, and thus does not require an accurate ground model. Our strategy is promising for robotics applications, because there is a clear distinction between the passive dynamic behavior and the active controller, it does not require sensing of the environment, and it is based on a sound theoretical background that is compatible with existing high-level controllers.
Starting Page	3758
Ending Page	3763
File Size	2021353
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6095001
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Springs Trajectory Legged locomotion Dynamics Hip
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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