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Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
This paper develops a control strategy to produce vertical jumps in a planar biped robot as a preliminary investigation into dynamic maneuvers. The control strategy was broken into two functional levels to separately solve the problems of coordination and execution of the jump maneuver. A high-level fuzzy controller addresses the complexities that arise from the system's hybrid nonlinear dynamics and series-elastic actuators embedded in the articulated legs. A novel fuzzy training scheme isdoi:10.1115/detc2010-28857 fatcat:qhmgiv4virhghn4652hbuo73xq