Agile and stable running locomotion control for an untethered and one-legged hopping robot

Name: Agile and stable running locomotion control for an untethered and one-legged hopping robot
Author: Uğurlu, Regaip Barkan, Sariyildiz, E., Kawasaki, T., Narikiyo, T.

İsim	Agile and stable running locomotion control for an untethered and one-legged hopping robot
Yazar	Uğurlu, Regaip Barkan, Sariyildiz, E., Kawasaki, T., Narikiyo, T.
Basım Tarihi:	2021-09
Basım Yeri	- Springer
Konu	Active compliance, Angular momentum, Jumping robot, One-legged running
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	0929-5593
Kayıt Numarası	df18aafd-4100-42c7-98bd-61e4576ec8f7
Lokasyon	Mechanical Engineering
Tarih	2021-09
Örnek Metin	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

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Agile and stable running locomotion control for an untethered and one-legged hopping robot

Yazar Uğurlu, Regaip Barkan, Sariyildiz, E., Kawasaki, T., Narikiyo, T.

Basım Tarihi 2021-09

Basım Yeri - Springer

Konu Active compliance, Angular momentum, Jumping robot, One-legged running

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 0929-5593

Kayıt Numarası df18aafd-4100-42c7-98bd-61e4576ec8f7

Lokasyon Mechanical Engineering

Tarih 2021-09

Örnek Metin 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