Control of Monopedal Running Through Tunable Damping

SEÇER G., SARANLI U.

21st Signal Processing and Communications Applications Conference (SIU), CYPRUS, 24 - 26 Nisan 2013 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/siu.2013.6531557
  • Basıldığı Ülke: CYPRUS
  • Anahtar Kelimeler: monopod robots, running controllers, tunable damping, spring-loaded inverted pendulum model, LEGGED LOCOMOTION, ROBOT
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

We propose a novel control strategy for monopods that incorporate a linear actuator in series with the radial leg spring. Our technique relies on active tuning of the virtual damping coefficient felt by the robot body through the linear actuator connected to the otherwise passive leg on a monopod. Based on this method, we also introduce a per-stride control method for regulating the hopping height of such a robot through appropriate choices of the effective damping constant. Finally, we present simulations illustrating the performance of the proposed control method.