Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL-Reference-Cited by-同舟云学术

Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL

Published:2013-03 Issue:3 Volume:32 Page:324-345
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Sreenath Koushil¹,Park Hae-Won²,Poulakakis Ioannis³,Grizzle JW¹

Affiliation:

1. Control Systems Laboratory, Electrical Engineering and Computer Science Department, University of Michigan, USA

2. Mechanical Engineering Department, University of Michigan, USA

3. Mechanical Engineering Department, University of Delaware, USA

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).

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364912473344

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