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Physically Variable Compliance in Running [chapter]

Jonathan W. Hurst, Alfred A. Rizzi
2005 Climbing and Walking Robots  
We claim that variable compliance can serve as an effective means for gait regulation, and can enable energy efficient locomotion over a wide range of terrains and speeds.  ...  robustness of a running system.  ...  Acknowledgements This work is supported in part by an NSF fellowship held by the first author and by The Robotics Institute of Carnegie Mellon University.  ... 
doi:10.1007/3-540-29461-9_10 fatcat:alw34rzx3jau7pbkwyj5whcmo4

Intelligent control of quadruped gallops

D.W. Marhefka, D.E. Orin, J.P. Schmiedeler, K.J. Waldron
2003 IEEE/ASME transactions on mechatronics  
Training of the controller is accomplished not with a mathematical model, but with simple rules based on a heuristic knowledge of the quadruped mechanics.  ...  The controller is capable of learning the leg touchdown angles and leg thrusts required to track the desired running height and velocity of a quadruped in only one stride.  ...  His intuitive control ideas developed for a planar monopod with a springy leg were extended to three-dimensional (3-D) hoppers, as well as to bipeds and quadrupeds.  ... 
doi:10.1109/tmech.2003.820001 fatcat:bgr4nck3jfbqxlingmxtztbonu

ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot

Christian Hubicki, Jesse Grimes, Mikhail Jones, Daniel Renjewski, Alexander Spröwitz, Andy Abate, Jonathan Hurst
2016 The international journal of robotics research  
planar walking and sustained hopping, while being more efficient than similarly gait-versatile bipeds. 2) The robot can be controlled by enforcing quantities derived from the simpler spring-mass model  ...  ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the spring-mass model for dynamic walking and running.  ...  Jessy Grizzle and the Control Systems Laboratory at the University of Michigan, and Dr. Hartmut Geyer's research group at the Robotics Institute at Carnegie Mellon University.  ... 
doi:10.1177/0278364916648388 fatcat:l6ge3cxq4zhldkzyyeti4zviqq

An Overview on Principles for Energy Efficient Robot Locomotion

Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schaffer, Patrick J. Clary, Monica Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan Hurst (+12 others)
2018 Frontiers in Robotics and AI  
We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots.  ...  To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms.  ...  Furthermore, a comparison with the performance of an impedance controller shows the proposed policy enables a computer model of an amputee to walk over rough terrain and recover from larger disturbances  ... 
doi:10.3389/frobt.2018.00129 pmid:33501007 pmcid:PMC7805619 fatcat:dwrykp2fofg7zelyir5ii6n6se

Force control for spring-mass walking and running

Devin Koepl, Kevin Kemper, Jonathan Hurst
2010 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics  
Active control can be used to add robustness to spring-mass walking and running, and most existing controllers add a fixed amount of energy to the system based on information from previous strides.  ...  We demonstrate in simulation that active force control applied to a passive spring-mass model for walking and running attenuates disturbances, while maintaining the energy economy of a completely passive  ...  Leg Lab robots, such as the Planar Hopper, use springs to facilitate running gaits, and while not designed for energetic economy, are capable of impressive feats such as somersaults [2] .  ... 
doi:10.1109/aim.2010.5695797 fatcat:hmmajjywsrautouxxxckialvge

Approximation and Control of the SLIP Model Dynamics via Partial Feedback Linearization and Two-Element Leg Actuation Strategy

Giulia Piovan, Katie Byl
2016 IEEE Transactions on robotics  
Furthermore, we demonstrate the proposed strategy on a more dynamically sophisticated planar hopper model.  ...  In this work we consider the active SLIP model: an energetically non-conservative version of the SLIP model with added series actuation.  ...  It also contains an extension of our proposed approximation strategy to a more complex planar hopper model, treated in more detail in Appendix.  ... 
doi:10.1109/tro.2016.2529649 fatcat:kc2pl5diqvf4lbaxrx7vpzfgou

Controlled passive dynamic running experiments with the ARL-monopod II

M. Ahmadi, M. Buehler
2006 IEEE Transactions on robotics  
An "adaptive energy controller" stabilizes the hopping height accurately over a range of operating conditions.  ...  This paper presents the expansion and implementation of the controlled passive dynamic running (CPDR) strategy for legged robots, previously presented by the authors.  ...  Gregorio for his design of ARL-Monopod I, the energetics data from that robot, and for his thorough and diligent research on that platform which provided the motivation for the research and results presented  ... 
doi:10.1109/tro.2006.878935 fatcat:ptwrrgns4jdehaz74ffhmrign4

Running over unknown rough terrain with a one-legged planar robot

Ben Andrews, Bruce Miller, John Schmitt, Jonathan E Clark
2011 Bioinspiration & Biomimetics  
Inspired by studies of animal locomotion, researchers have proposed numerous control strategies to achieve stable, one-legged running over unknown, rough terrain.  ...  This study illustrates the relative advantages of utilizing a minimal-sensing, active energy removal control scheme to stabilize running over rough terrain.  ...  Inspired by studies of animal locomotion, researchers have proposed numerous control strategies to achieve stable, one-legged running over unknown, rough terrain.  ... 
doi:10.1088/1748-3182/6/2/026009 pmid:21555844 fatcat:4biufhs2jnauxgglwloutugyrm

Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics

Kuldip Naik, Mehran Mehrandezh, John Barden
2010 Applied Bionics and Biomechanics  
This system can be used as an educational tool for teaching real-time control of hybrid and non-linear systems.  ...  The movement of the hopper is supported by a vertical slide; therefore, the hopper can only jump in place.  ...  Prosser and Kam (1992) suggested a control algorithm to regulate the jumping height of an electrically actuated hopper with a linear elastic element (spring) in the leg, based on offline synthesis of  ... 
doi:10.1155/2010/746921 fatcat:mk4vuhug75ck5hi4h5r5lbnb3y

Adaptive control strategies for open-loop dynamic hopping

Marco Hutter, C. David Remy, Roland Siegwart
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
With classic closed-loop control strategies failing, an adaptive open-loop control algorithm is presented, that, over a series of jumps, estimates the compression of the actuator springs, and gradually  ...  In the present study, we investigate a control strategy for hopping motions of an articulated leg that is driven by series elastic actuation.  ...  ACKNOWLEDGEMENTS The authors gratefully acknowledge Jonas Fisler for developing the prototype of the leg used in this study.  ... 
doi:10.1109/iros.2009.5354474 dblp:conf/iros/HutterRS09 fatcat:c76d6liiuvcvpj6oxbkon4lztq

Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper

M. Mert Ankarali, Uluç Saranli
2010 Chaos  
Articles you may be interested in Lateral stability of the spring-mass hopper suggests a two-step control strategy for running Chaos:  ...  ACKNOWLEDGMENTS This work was supported by the National Scientific and Technological Research Council of Turkey ͑TUBITAK͒ project 109E032 and M.M.A.'s scholarship.  ...  Color online͒ TD-SLIP: planar, dissipative spring-mass hopper with rotary hip actuation. M. M. Ankarali and U.  ... 
doi:10.1063/1.3486803 pmid:20887061 fatcat:yqc3mkmcnnehxmkypmgajnz5lm

The 3-D Spring–Mass Model Reveals a Time-Based Deadbeat Control for Highly Robust Running and Steering in Uncertain Environments

Albert Wu, Hartmut Geyer
2013 IEEE Transactions on robotics  
Over the past three decades, the spring-mass model has developed into the basic behavior model to study running in animals and robots.  ...  Using this control strategy, we demonstrate in simulation that a human-like system running at 5 ms −1 tolerates frequent ground disturbances up to 30% of the leg length.  ...  An extension of this control with an explicit method for stabilizing system energy over a longer horizon of B.  ... 
doi:10.1109/tro.2013.2263718 fatcat:37svynprnfgujfjg4cnezfsybe

Efficient and Versatile Locomotion With Highly Compliant Legs

Marco Hutter, C. David Remy, Mark A. Hoepflinger, Roland Siegwart
2013 IEEE/ASME transactions on mechatronics  
The two legs are employed in efficient hopping/running motions for which they achieve performance similar to humans or animals.  ...  This paper is concluded by a comparison of the various design choices with respect to performance and applicability, as well as an outlook on the usage of these legs in a fully actuated quadruped.  ...  Although both systems demonstrated their applicability for planar running with similar performance with regard to system efficiency, ScarlETH has a number of beneficial properties that favor it for future  ... 
doi:10.1109/tmech.2012.2222430 fatcat:dlhpu4hu4fhqdjzxilm3a6cl4u

Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation

M. M. Ankarali, U. Saranli
2010 Robotics: Science and Systems VI  
In this paper, we extend on a recently proposed analytic approximation to the stance trajectories of a dissipative SLIP model to analyze stability properties of a planar hopper with a single rotary actuator  ...  The paper concludes with the application of our energy-regulation scheme to the design of a task-level gait controller that uses explicit leg placement commands in conjunction with the hip torque.  ...  Finally, in order to facilitate comparison with earlier studies, we use kinematic and dynamic parameters that roughly match those of an average human with m = 80kg and r 0 = 1m.  ... 
doi:10.15607/rss.2010.vi.006 dblp:conf/rss/AnkaraliS10 fatcat:okidlmpdnnbsdctwpnnirivohq

Mathematics of Human Motion: from Animation towards Simulation (A View form the Outside) [article]

A.I. Zhmakin
2011 arXiv   pre-print
Simulation of human motion is the subject of study in a number of disciplines: Biomechanics, Robotics, Computer Animation, Control Theory, Neurophysiology, Medicine, Ergonomics.  ...  On the other hand, he happens to be a human (who occasionally is moving) and, as everybody else, rates himself an expert in Applied Common Sense.  ...  A running model based on a one-legged planar hopper with a self-balancing mechanism has been proposed in [139] . A controller for human running has been based on the energy consumption.  ... 
arXiv:1102.4992v1 fatcat:vf63c7dtqfdsra562sxlb7uh2m
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