Modal Matching: An Approach to Natural Compliant Jumping Control

Dominic Lakatos, Alin Albu-Schäffer

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This letter derives the basic concept of modal matching - an approach to natural motion control. Modal matching exploits the nonlinearity of the rigid multi-body dynamics (and the variability of the elastic transmissions) as degree of freedom to fit the natural plant dynamics to the desired dynamics of the task. Modal matching achieves a desired intrinsic oscillation behavior, which is locally equivalent to the dynamics of the basic spring-loaded inverted pendulum or pogo-stick model (both implementing a linear inertia acting on a linear spring), well established in locomotion analysis and control. Using the concept of modal matching, an efficient and effective methodology to natural jumping control is introduced.

Original languageEnglish
Article number7386589
Pages (from-to)274-281
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume1
Issue number1
DOIs
StatePublished - 1 Jan 2016

Keywords

  • Compliance and Impedance Control
  • Compliant Joint/Mechanism
  • Multilegged Robots

Fingerprint

Dive into the research topics of 'Modal Matching: An Approach to Natural Compliant Jumping Control'. Together they form a unique fingerprint.

Cite this