Adaptive control strategies for open-loop dynamic hopping

Marco Hutter, C. David Remy, Roland Siegwart
<span title="">2009</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="" style="color: black;">2009 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
In the present study, we investigate a control strategy for hopping motions of an articulated leg that is driven by series elastic actuation. A highly compliant spring in the knee joint allows the exploitation of periodic energy storage but creates a major control challenge by severely limiting the bandwidth of closed-loop position or force control. This handicap is intensified by slow actuators, substantial delays, and the kinematic coupling of the articulated design. With classic closed-loop
more &raquo; ... ontrol 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 modifies the motor inputs in order to minimize slipping and create a purely vertical motion. 978-1-4244-3804-4/09/$25.00 ©2009 IEEE
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="">doi:10.1109/iros.2009.5354474</a> <a target="_blank" rel="external noopener" href="">dblp:conf/iros/HutterRS09</a> <a target="_blank" rel="external noopener" href="">fatcat:c76d6liiuvcvpj6oxbkon4lztq</a> </span>
<a target="_blank" rel="noopener" href="" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href=""> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> </button> </a>