Design and experimental implementation of a compliant
hybrid zero dynamics controller with active force control for running on
MABEL.
Koushil Sreenath, Hae-Won Park, and Jessy W.
Grizzle. In IEEE International Conference
on Robotics and Automation (ICRA), pages 51–56, Saint Paul, MN,
May 2012.
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Abstract
This paper presents a control design based on the method of virtual constraints and hybrid zero dynamics to achieve stable running on MABEL, a planar biped with compliance. In particular, a time-invariant feedback controller is designed such that the closed-loop system not only respects the natural compliance of the open-loop system, but also enables active force control within the compliant hybrid zero dynamics and results in exponentially stable running gaits. The compliant-hybrid-zero-dynamics-based controller with active force control is implemented experimentally and shown to realize stable running gaits on MABEL at an average speed of 1.95 m/s (4.4 mph) and a peak speed of 3.06 m/s (6.8 mph). The obtained gait has flight phases upto 39% of the gait, and an estimated ground clearance of 7.5-10 cm.Text Reference
Koushil Sreenath, Hae-Won Park, and
Jessy W. Grizzle,
"Design and experimental implementation of a
compliant hybrid zero dynamics controller with active force control for
running on MABEL",
In IEEE International Conference on Robotics and Automation (ICRA),
pages 51–56, Saint Paul, MN, May 2012.
BibTeX Reference
@conference{ICRA2012a,author = {Koushil Sreenath and Hae-Won Park and Jessy W.
Grizzle},
title = {Design and Experimental Implementation of a
Compliant Hybrid Zero Dynamics Controller with Active Force Control for
Running on {MABEL}},
booktitle = {IEEE International Conference on Robotics and
Automation (ICRA)},
pages = {51--56},
month = may,
year = {2012},
address = {Saint Paul, MN},
}