DC Field | Value | Language |
---|---|---|
dc.contributor.author | Sreenath, Koushil | ko |
dc.contributor.author | Park, Hae-Won | ko |
dc.contributor.author | Grizzle, Jessy W. | ko |
dc.date.accessioned | 2020-03-19T06:21:34Z | - |
dc.date.available | 2020-03-19T06:21:34Z | - |
dc.date.created | 2019-12-20 | - |
dc.date.issued | 2012-05-17 | - |
dc.identifier.citation | 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, pp.51 - 56 | - |
dc.identifier.uri | http://hdl.handle.net/10203/273216 | - |
dc.description.abstract | This paper presents a control design based on the method of virtual constraints and hybrid zero dynamics to achieve stable running on MABEL, a planar biped with compliance. In particular, a time-invariant feedback controller is designed such that the closed-loop system not only respects the natural compliance of the open-loop system, but also enables active force control within the compliant hybrid zero dynamics and results in exponentially stable running gaits. The compliant-hybrid-zero-dynamics-based controller with active force control is implemented experimentally and shown to realize stable running gaits on MABEL at an average speed of 1.95 m/s (4.4 mph) and a peak speed of 3.06 m/s (6.8 mph). The obtained gait has flight phases upto 39% of the gait, and an estimated ground clearance of 7.5 - 10 cm. © 2012 IEEE. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 51 | - |
dc.citation.endingpage | 56 | - |
dc.citation.publicationname | 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 | - |
dc.identifier.conferencecountry | US | - |
dc.identifier.conferencelocation | RiverCentre, Saint Paul, Minnesota | - |
dc.identifier.doi | 10.1109/ICRA.2012.6224944 | - |
dc.contributor.localauthor | Park, Hae-Won | - |
dc.contributor.nonIdAuthor | Sreenath, Koushil | - |
dc.contributor.nonIdAuthor | Grizzle, Jessy W. | - |
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