Author
Uğurlu, Regaip Barkan, Sariyildiz, E., Kawasaki, T., Narikiyo, T.
Publication Date
2021-09
Publication Place
-
Springer
Subject
Active compliance, Angular momentum, Jumping robot, One-legged running
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
0929-5593
Record ID
df18aafd-4100-42c7-98bd-61e4576ec8f7
Library Location
Mechanical Engineering
Date
2021-09
Sample Text
This paper is aimed at presenting a locomotion control framework to realize agile and robust locomotion behaviors on conventional stiff-by-nature legged robots. First, a trajectory generator that is capable of characterizing angular momentum is utilized to synthesize reference CoM trajectories and associated force inputs, in accordance with the target locomotion profile. Second, the controller evaluates both force and position errors in the joint level, using a servo controller and an admittance control block. The trade-off between the position and force errors is naturally adjusted via admittance control coefficients. Implementing the controller on a 4-link, 3-jointed one-legged robot, we conducted several balancing and running experiments under challenging conditions; e.g., balancing on a moving cart, balancing on a surface with varying orientation, running on a flat surface, running on an inclined surface. The experimental study results indicated that the locomotion controller enabled the robot to perform untethered one-legged running and to maintain its balance when subject to disturbances.
DOI
10.1007/s10514-021-10010-z
Cilt
45
