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

Cited 53 time in webofscience Cited 0 time in scopus
  • Hit : 48
  • Download : 0
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 MABEL and resulted in a kneed-biped running record of 3.06 m/s (10.9 kph or 6.8 mph).
Publisher
SAGE PUBLICATIONS LTD
Issue Date
2013-03
Language
English
Article Type
Article
Citation

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.32, no.3, pp.324 - 345

ISSN
0278-3649
DOI
10.1177/0278364912473344
URI
http://hdl.handle.net/10203/252003
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 53 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0