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 language | English |
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Article number | 7386589 |
Pages (from-to) | 274-281 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 1 |
Issue number | 1 |
DOIs | |
State | Published - 1 Jan 2016 |
Keywords
- Compliance and Impedance Control
- Compliant Joint/Mechanism
- Multilegged Robots