TY - GEN
T1 - Jumping control for compliantly actuated multilegged robots
AU - Lakatos, Dominic
AU - Garofalo, Gianluca
AU - Dietrich, Alexander
AU - Albu-Schauffer, Alin
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - A feedback control to generate jumping motions for compliantly actuated multilegged robots is proposed. The method allows to specify the direction of the jumping motion. This is achieved by a constraint that defines a one-dimensional submanifold and a bang-bang control which generates a limit cycle on this submanifold. The approach is based on classical impedance control with the difference that the stiffness on the submanifold and the force to preserve a predefined nominal body configuration result from the intrinsic mechanical springs in the joints. Furthermore, we propose two controller implementations: the first implementation does not require to detect the contact state, while the second implementation requires contact state detection, but accounts in addition for Coulomb friction constraints. The controller is validated in simulation with a compliantly actuated quadruped.
AB - A feedback control to generate jumping motions for compliantly actuated multilegged robots is proposed. The method allows to specify the direction of the jumping motion. This is achieved by a constraint that defines a one-dimensional submanifold and a bang-bang control which generates a limit cycle on this submanifold. The approach is based on classical impedance control with the difference that the stiffness on the submanifold and the force to preserve a predefined nominal body configuration result from the intrinsic mechanical springs in the joints. Furthermore, we propose two controller implementations: the first implementation does not require to detect the contact state, while the second implementation requires contact state detection, but accounts in addition for Coulomb friction constraints. The controller is validated in simulation with a compliantly actuated quadruped.
UR - http://www.scopus.com/inward/record.url?scp=84929192934&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907525
DO - 10.1109/ICRA.2014.6907525
M3 - Conference contribution
AN - SCOPUS:84929192934
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4562
EP - 4568
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -