Fast and adaptive hopping height control of single-legged robot

J Bhatti, A R Plummer, M N Sahinkaya, P Iravani, E Guglielmino, Darwin. G. Caldwell

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

Research on running robots has generally focussed on the steady-state. When the ground has limited foot placement surfaces or there are sudden changes in height then steady-state running is not possible. It becomes necessary to make step-by-step adjustments to place the foot. In this paper a mass-spring-damper model of a robot's leg is used to develop a hopping controller capable of meeting rapid changes in demand height or flight time. Analysis of the model provides a simple method to select control parameters for effective height control without tuning or iteration. Additionally, a simple adaptive algorithm is introduced and demonstrated in simulation. The adaptive control algorithm allows rapid changes of height even when ground characteristics change. Experimental validation is ongoing and some preliminary results are provided. Copyright
Original languageEnglish
Pages303-309
Number of pages7
DOIs
Publication statusPublished - 2012
EventASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012 - Nantes , France
Duration: 2 Jul 20124 Jul 2012

Conference

ConferenceASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012
CountryFrance
CityNantes
Period2/07/124/07/12

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    Bhatti, J., Plummer, A. R., Sahinkaya, M. N., Iravani, P., Guglielmino, E., & Caldwell, D. G. (2012). Fast and adaptive hopping height control of single-legged robot. 303-309. Paper presented at ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012, Nantes , France. https://doi.org/10.1115/ESDA2012-82564