Development of a biologically inspired hopping robot-"Kenken"

Hyon, Sang-Ho; Mita, Tsutomu

doi:10.1109/robot.2002.1014356

Cited by 131 publications

(65 citation statements)

References 15 publications

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“…We decided to use an articulated design, as it has been shown that the nonlinear relationship between leg compression and leg stiffness of an articulated leg has a beneficial impact on open loop stability and can increase the range of stable running speeds [17] in comparison to a prismatic leg with a linear compression-stiffness ratio. Additionally, the dynamics of an articulated leg can perform a passive swing leg retraction and the larger range of motion increases the achievable ground clearance [18]. However, controlling a hopping motion becomes more complicated due to the nonlinear kinematic coupling of the joints.…”

Section: Introductionmentioning

confidence: 99%

Adaptive control strategies for open-loop dynamic hopping

Hutter

Remy

Siegwart

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In the present study, we investigate a control strategy for hopping motions of an articulated leg that is driven by series elastic actuation. A highly compliant spring in the knee joint allows the exploitation of periodic energy storage but creates a major control challenge by severely limiting the bandwidth of closed-loop position or force control. This handicap is intensified by slow actuators, substantial delays, and the kinematic coupling of the articulated design.With classic closed-loop control strategies failing, an adaptive open-loop control algorithm is presented, that, over a series of jumps, estimates the compression of the actuator springs, and gradually modifies the motor inputs in order to minimize slipping and create a purely vertical motion.

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Section: Introductionmentioning

confidence: 99%

Adaptive control strategies for open-loop dynamic hopping

Hutter

Remy

Siegwart

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…This type of movement is often mimicry of a specific living organism's methods of motion, which allows for much more robustness when encountering non-level terrain topology. Many robots are based on the movement of animals or insects [5][6][7], such as RHex [8,9], whose movement was developed based on the concept of a cockroach, as shown in Figure 1 RHex serves as an effective all-terrain vehicle for its size with a reasonably simple design model. With six actuators, one for each leg, RHex offers a straightforward platform for controller development as well.…”

Section: Legged Locomotionmentioning

confidence: 99%

Kinematic control and posture optimization of a redundantly actuated quadruped robot

Thomson

Sharf

Beckman

2012

2012 IEEE International Conference on Robotics and Automation

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“…The purpose of this assumption, which is crucial for the success of the control laws, is that it results in trivial coupling between the torso and leg dynamics. To the best of the authors' knowledge, only [22] and [23] addressed the asymmetric case, but stability conclusions were drawn from numerical studies only.…”

Section: Introductionmentioning

confidence: 99%

The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

Poulakakis

Grizzle

2009

IEEE Trans. Automat. Contr.

243

149

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Abstract-A hybrid controller that induces provably stable running gaits on an Asymmetric Spring Loaded Inverted Pendulum (ASLIP) is developed. The controller acts on two levels. On the first level, continuous within-stride control asymptotically imposes a (virtual) holonomic constraint corresponding to a desired torso posture, and creates an invariant surface on which the two-degree-of-freedom restriction dynamics of the closed-loop system (i.e., the hybrid zero dynamics) is diffeomorphic to the center-of-mass dynamics of a Spring Loaded Inverted Pendulum (SLIP). On the second level, event-based control stabilizes the closed-loop hybrid system along a periodic orbit of the SLIP dynamics. The controller's performance is discussed through comparison with a second control law that creates a one-degreeof-freedom non-compliant hybrid zero dynamics. Both controllers induce identical steady-state behaviors (i.e. periodic solutions). Under transient conditions, however, the controller inducing a compliant hybrid zero dynamics based on the SLIP accommodates significantly larger disturbances, with less actuator effort, and without violation of the unilateral ground force constraints.

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Development of a biologically inspired hopping robot-"Kenken"

Cited by 131 publications

References 15 publications

Adaptive control strategies for open-loop dynamic hopping

Adaptive control strategies for open-loop dynamic hopping

Kinematic control and posture optimization of a redundantly actuated quadruped robot

The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

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