Embedding
active force control within the compliant hybrid zero dynamics to achieve
stable, fast running on MABEL.
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis,
and Jessy W. Grizzle. The
International Journal of Robotics Research (IJRR), 32(3):324–345,
March 2013.
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Abstract
A mathematical formalism for designing provably stable, running gaits in bipedal robots with compliance is presented and the theoretical work is validated experimentally on MABEL, a planar bipedal testbed that contains springs in its drivetrain. The methods of virtual constraints and hybrid zero dynamics are used to design a time-invariant feedback controller that not only respects the natural compliance of the open-loop system, but also enables active force control within the compliant hybrid zero dynamics. The controller dynamically varies the effective leg stiffness throughout the gait. When implemented on MABEL, a kneed-biped running record of 3.06 m/s (10.9 kph or 6.8 mph) is achieved.Text Reference
Koushil Sreenath, Hae-Won Park, Ioannis
Poulakakis, and Jessy W. Grizzle,
"Embedding active force control within the
compliant hybrid zero dynamics to achieve stable, fast running on
MABEL",
The International Journal of Robotics Research (IJRR),
32(3):324–345, March 2013.
BibTeX Reference
@article{IJRR2013,author = {Koushil Sreenath and Hae-Won Park and Ioannis
Poulakakis and Jessy W. Grizzle},
title = {Embedding Active Force Control within the
Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on
{MABEL}},
journal = {The International Journal of Robotics Research
(IJRR)},
volume = {32},
number = {3},
pages = {324--345},
month = mar,
year = {2013},
}