Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation

Ankaralı, Mustafa Mert; Saranlı, Uluç

doi:10.15607/rss.2010.vi.006

Cited by 5 publications

(5 citation statements)

References 37 publications

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“…They extend the results to the stance map for hip energized SLIP by taking the open loop hip torque into account when calculating the average angular momentum [28], [29]. They use inverse dynamics to find the hip torque to get to the target energy and solve an optimization problem for the touchdown angle.…”

Section: A Background Literaturementioning

confidence: 99%

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Technical Report: A New Hopping Controller for Highly Dynamical Bipeds

Rozen-Levy,

Koditschek

2020

Preprint

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We present angle of attack control, a novel control strategy for a hip energized Penn Jerboa. The energetic losses from damping are counteracted by aligning most of the velocity at touchdown in the radial direction and the fore-aft velocity is controlled by using the hip torque to control to a target angular momentum. The control strategy results in highly asymmetric leg angle trajectories, thus avoiding the traction issues that plague hip actuated SLIP. Using a series of assumptions we find an analytical expression for the fixed points of an approximation to the hopping return map relating the design parameters to steady state gait performance. The hardware robot demonstrates stable locomotion with speeds ranging from 0.4 m/s to 2.5 m/s (2 leg lengths/s to 12.5 leg lengths/s) and heights ranging from 0.21 m to 0.27 m (1.05 leg lengths to 1.35 leg lengths). The performance of the empirical trials is well approximated by the analytical predictions.

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Section: A Background Literaturementioning

confidence: 99%

“…In addition to the work in [28], [29], there have been a handful of papers exploring hip energized hopping for SLIPlike robots [30]- [32].…”

Section: A Background Literaturementioning

confidence: 99%

Technical Report: A New Hopping Controller for Highly Dynamical Bipeds

Rozen-Levy,

Koditschek

2020

Preprint

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“…Introduction of the damping effect requires a way to introduce energy into the system in order to obtain a constant hopping frequency. Even though this extension adds additional realistic considerations into account, it also adds a fair amount of complexity to the calculation, making the lossy SLIP model a not so widely adopted term [34]. Most authors utilize the SLIP model in its simplest form, leaving energy renewal as a problem of practical implementation [35].…”

Section: Vertical Slip Model Of a Robot Leg With A Vpc Elementmentioning

confidence: 99%

New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

Koco

Mutka

Kovačić

2016

International Journal of Advanced Robotic Systems

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This paper presents the design of a novel variable passivecompliant (VPC) element utilized as a lower-leg implant of a fully electrically driven quadruped robot. It is designed as a slider-piston mechanism which ensures that the force produced during a foot-ground contact is directly perpendicular to the contact surface of an actuated revolute spring. In this way, by altering the stiffness of quadruped legs in a closed-loop manner, the VPC element enables the quadruped robot to adapt to varying terrain characteristics, ensuring a constant hopping frequency over a wide range of terrain-stiffness variations. The designed VPC element and its beneficial characteristics are described in detail. Mathematical relations are formulated that help to describe the influence of the VPC element during vertical hopping of a quadruped robot. The properties of the quadruped research platform with integrated VPC element were verified in simulation and through experiments.

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“…A general finding reveals that when the humans or mammals run, the legs act as springs and experience a compression and extension process to improve the energy efficiency and the compliance of the interaction with the ground [2]. Accordingly, a general model template, Spring Loaded Inverted Pendulum (SLIP), was proposed [3] and extended [4][5][6][7]. To analyze the intuitive motion mechanism of quadruped motion at different gaits, the planar model including a rigid body and four massless springy legs was established based on the SLIP model [8].…”

Section: Introductionmentioning

confidence: 99%

Trotting Motion of the Quadruped Model with Two Spinal Joints and Its Dynamics Features

Li¹,

Tan

2020

Journal of Robotics

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The spine plays important roles in the quadruped locomotion. To investigate the effects of the spine on the quadruped trotting motion, firstly, a sagittal passive model is proposed which contains four massless springy legs and two passive spinal joints. To generate the trotting gait of the model, the multibody hybrid dynamics model is established based on the defined events. The combination of optimization tools is used to find the suitable solution space in which the model can maintain a periodic motion. It reveals that the quadruped trotting motion results from the coordinated features of the spine and the legs. By comparing the model with the rigid body, it is proven that the spinal joints can reduce the effect of the ground reaction forces on the body in a special velocity range. Then, a hybrid controller whose objective is to maintain the kinematic coordination between the spinal joints is applied and it replaces the passive spinal joints, and the results prove that it can make the model achieve a stable periodic motion. Finally, the prototype of the quadruped robot with two spinal joints based on the model is established and its trotting motion is achieved successfully. The experiment results also indicate the compliant effect of the spine on the motion performance. Consequently, the effects of the spine at trotting gait are helpful to guide the development of the quadruped robots.

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Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation

Cited by 5 publications

References 37 publications

Technical Report: A New Hopping Controller for Highly Dynamical Bipeds

Technical Report: A New Hopping Controller for Highly Dynamical Bipeds

New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

Trotting Motion of the Quadruped Model with Two Spinal Joints and Its Dynamics Features

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