NDLI: Template based control of hexapedal running

Content Provider	IEEE Xplore Digital Library
Author	Saranli, U. Koditschek, D.E.
Copyright Year	2003
Description	Author affiliation: Dept. of Electr. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA (Saranli, U.; Koditschek, D.E.)
Abstract	In this paper, we introduce a hexapedal locomotion controller that simulation evidence suggests will be capable of driving our RHex robot at speeds exceeding five body lengths per second with reliable stability and rapid maneuverability. We use a low dimensional passively compliant biped as a "template" - a control target for the alternating tripod gait of the physical machine. We impose upon the physical machine an approximate inverse dynamics within-stride controller designed to force the true high dimensional system dynamics down onto the lower dimensional subspace corresponding to the template. Numerical simulations suggest the presence of asymptotically stable running gaits with large basins of attraction. Moreover, this controller improves substantially the maneuverability and dynamic range of RHex's running behaviors relative to the initial prototype open-loop algorithms.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	1374
Ending Page	1379
File Size	455761
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241783
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Robot kinematics Morphology Control systems Prototypes Reliability engineering Computer science Computational modeling Computer simulation Stability
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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