TY - GEN
T1 - ULT-model
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
AU - Ossadnik, Dennis
AU - Jensen, Elisabeth
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phase. In this paper, we develop a new compact dynamic model as a first step toward a fully unified locomotion template model (ULT-model) of an upright-trunk forward hopping system, which will also require a unified control law in the next step. We demonstrate that all locomotion subfunctions are enabled by adding just a point foot mass and a parallel leg actuator to the well-known trunk SLIP model and that a stable limit cycle can be achieved. This brings us closer toward the ultimate goal of enabling closed-loop dynamics for anchor matching and thus achieving simple, efficient, robust and stable upright-trunk gait control, as observed in biological systems.
AB - While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phase. In this paper, we develop a new compact dynamic model as a first step toward a fully unified locomotion template model (ULT-model) of an upright-trunk forward hopping system, which will also require a unified control law in the next step. We demonstrate that all locomotion subfunctions are enabled by adding just a point foot mass and a parallel leg actuator to the well-known trunk SLIP model and that a stable limit cycle can be achieved. This brings us closer toward the ultimate goal of enabling closed-loop dynamics for anchor matching and thus achieving simple, efficient, robust and stable upright-trunk gait control, as observed in biological systems.
UR - http://www.scopus.com/inward/record.url?scp=85125451647&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9560780
DO - 10.1109/ICRA48506.2021.9560780
M3 - Conference contribution
AN - SCOPUS:85125451647
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3040
EP - 3046
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 May 2021 through 5 June 2021
ER -