Towards running robots for discontinuous terrain

Jawaad Bhatti, Pejman Iravani, Andrew R. Plummer, M. Necip Sahinkaya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

86 Downloads (Pure)

Abstract

Planar control is an important first step in the development of more complex running robots. This extended abstract describes a technique for control of a one-legged planar robot hopping over discontinuous surfaces. In simulations the robot is tasked with traversing across terrain which provides limited surface for foot placement. The robot has to hop between foot placement surfaces placed at varying distances and heights. The controller has to adjust leg landing angle and leg extension in order to produce the parabolic flight trajectory necessary to land at the next targeted foot placement spot.
Original languageEnglish
Title of host publicationAdvances in Autonomous Robotics
Subtitle of host publicationJoint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012
EditorsG. Herrmann, M. Studley, M. Pearson, A. Conn, C. Melhuish, J-H. Kim, P. Vadakkepat
Place of PublicationBerlin, Germany
PublisherSpringer
Pages461-462
Number of pages2
DOIs
Publication statusPublished - 1 Jan 2012

Publication series

NameLecture Notes in Computer Science
PublisherSpringer
Volume7429/2012

Fingerprint

Robots
Landing
Trajectories
Controllers

Cite this

Bhatti, J., Iravani, P., Plummer, A. R., & Sahinkaya, M. N. (2012). Towards running robots for discontinuous terrain. In G. Herrmann, M. Studley, M. Pearson, A. Conn, C. Melhuish, J-H. Kim, & P. Vadakkepat (Eds.), Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012 (pp. 461-462). (Lecture Notes in Computer Science; Vol. 7429/2012). Berlin, Germany: Springer. https://doi.org/10.1007/978-3-642-32527-4_59

Towards running robots for discontinuous terrain. / Bhatti, Jawaad; Iravani, Pejman; Plummer, Andrew R.; Sahinkaya, M. Necip.

Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012. ed. / G. Herrmann; M. Studley; M. Pearson; A. Conn; C. Melhuish; J-H. Kim; P. Vadakkepat. Berlin, Germany : Springer, 2012. p. 461-462 (Lecture Notes in Computer Science; Vol. 7429/2012).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bhatti, J, Iravani, P, Plummer, AR & Sahinkaya, MN 2012, Towards running robots for discontinuous terrain. in G Herrmann, M Studley, M Pearson, A Conn, C Melhuish, J-H Kim & P Vadakkepat (eds), Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012. Lecture Notes in Computer Science, vol. 7429/2012, Springer, Berlin, Germany, pp. 461-462. https://doi.org/10.1007/978-3-642-32527-4_59
Bhatti J, Iravani P, Plummer AR, Sahinkaya MN. Towards running robots for discontinuous terrain. In Herrmann G, Studley M, Pearson M, Conn A, Melhuish C, Kim J-H, Vadakkepat P, editors, Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012. Berlin, Germany: Springer. 2012. p. 461-462. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-642-32527-4_59
Bhatti, Jawaad ; Iravani, Pejman ; Plummer, Andrew R. ; Sahinkaya, M. Necip. / Towards running robots for discontinuous terrain. Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012. editor / G. Herrmann ; M. Studley ; M. Pearson ; A. Conn ; C. Melhuish ; J-H. Kim ; P. Vadakkepat. Berlin, Germany : Springer, 2012. pp. 461-462 (Lecture Notes in Computer Science).
@inproceedings{0bb3a4db1d9f4422acf01140d5b2c494,
title = "Towards running robots for discontinuous terrain",
abstract = "Planar control is an important first step in the development of more complex running robots. This extended abstract describes a technique for control of a one-legged planar robot hopping over discontinuous surfaces. In simulations the robot is tasked with traversing across terrain which provides limited surface for foot placement. The robot has to hop between foot placement surfaces placed at varying distances and heights. The controller has to adjust leg landing angle and leg extension in order to produce the parabolic flight trajectory necessary to land at the next targeted foot placement spot.",
author = "Jawaad Bhatti and Pejman Iravani and Plummer, {Andrew R.} and Sahinkaya, {M. Necip}",
year = "2012",
month = "1",
day = "1",
doi = "10.1007/978-3-642-32527-4_59",
language = "English",
series = "Lecture Notes in Computer Science",
publisher = "Springer",
pages = "461--462",
editor = "G. Herrmann and M. Studley and M. Pearson and A. Conn and C. Melhuish and J-H. Kim and P. Vadakkepat",
booktitle = "Advances in Autonomous Robotics",

}

TY - GEN

T1 - Towards running robots for discontinuous terrain

AU - Bhatti, Jawaad

AU - Iravani, Pejman

AU - Plummer, Andrew R.

AU - Sahinkaya, M. Necip

PY - 2012/1/1

Y1 - 2012/1/1

N2 - Planar control is an important first step in the development of more complex running robots. This extended abstract describes a technique for control of a one-legged planar robot hopping over discontinuous surfaces. In simulations the robot is tasked with traversing across terrain which provides limited surface for foot placement. The robot has to hop between foot placement surfaces placed at varying distances and heights. The controller has to adjust leg landing angle and leg extension in order to produce the parabolic flight trajectory necessary to land at the next targeted foot placement spot.

AB - Planar control is an important first step in the development of more complex running robots. This extended abstract describes a technique for control of a one-legged planar robot hopping over discontinuous surfaces. In simulations the robot is tasked with traversing across terrain which provides limited surface for foot placement. The robot has to hop between foot placement surfaces placed at varying distances and heights. The controller has to adjust leg landing angle and leg extension in order to produce the parabolic flight trajectory necessary to land at the next targeted foot placement spot.

UR - http://www.scopus.com/inward/record.url?scp=84865024969&partnerID=8YFLogxK

UR - http://dx.doi.org/10.1007/978-3-642-32527-4_59

U2 - 10.1007/978-3-642-32527-4_59

DO - 10.1007/978-3-642-32527-4_59

M3 - Conference contribution

T3 - Lecture Notes in Computer Science

SP - 461

EP - 462

BT - Advances in Autonomous Robotics

A2 - Herrmann, G.

A2 - Studley, M.

A2 - Pearson, M.

A2 - Conn, A.

A2 - Melhuish, C.

A2 - Kim, J-H.

A2 - Vadakkepat, P.

PB - Springer

CY - Berlin, Germany

ER -