A flight-phase terrain following control strategy for stable and robust hopping of a one-legged robot under large terrain variations

Bioinspiration & Biomimetics
Natan Shemer, Amir Degani

Abstract

This work demonstrates a simple, once per step, flight-control method for robots running on a planar unknown rough-terrain environment. The robot used to exemplify these control strategies is the ParkourBot, a spring loaded inverted pendulum (SLIP)-based robot. The SLIP model is widely used for the description of humans and animals running motion and has been the basis for many robots. A known control scheme for increasing robustness of the conservative, SLIP model is the swing leg retraction (SLR) method. Despite of the SLR's popularity, it is not intended to be used on the more realistic, non-conservative damped SLIP model. On the damped SLIP model, the SLR controller failed to provide adequate results, therefore, we have derived a new simple, flight-phase control method called polynomial energy insertion (PEI). The new PEI method is based on the dead-beat solution of the damped simplified instantaneous SLIP (iSLIP) model, which assumes an infinitely stiff spring. Unlike the SLR which, starting from apex, changes the leg angle monotonically during flight, the PEI requires the leg length (hence, energy insertion) to change monotonically throughout the flight phase. Interestingly, the leg angle remains nearly constant. In simul...Continue Reading

References

Jan 1, 1989·Journal of Biomechanics·R Blickhan
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Feb 22, 2012·Biological cybernetics·Karl Theodor KalveramSten Grimmer
Jul 14, 2012·Bioinspiration & Biomimetics·M ErnstR Blickhan

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