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Biped hopping control bazsed on spring loaded inverted pendulum model

Tamaddoni, S. H ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.1142/S0219843610002106
  3. Publisher: 2010
  4. Abstract:
  5. Human running can be stabilized in a wide range of speeds by automatically adjusting muscular properties of leg and torso. It is known that fast locomotion dynamics can be approximated by a spring loaded inverted pendulum (SLIP) system, in which leg is replaced by a single spring connecting body mass to ground. Taking advantage of the inherent stability of SLIP model, a hybrid control strategy is developed that guarantees a stable biped locomotion in sagittal plane. In the presented approach, nonlinear control methods are applied to synchronize the biped dynamics and the spring-mass dynamics. As the biped center of mass follows the mass of the mass-spring model, the whole biped performs a stable locomotion corresponding to SLIP model. Simulations are done to obtain a repeatable hopping for a three-link underactuated biped model. Results show that periodic hopping gaits can be stabilized, and the presented control strategy provides feasible gait trajectories for stance and swing phases
  6. Keywords:
  7. Control ; Gait ; Hopping ; Jumping ; Running ; SLIP ; Biped ; Body mass ; Center of mass ; Control strategies ; Hybrid control strategies ; Mass dynamics ; Mass-spring models ; Non-linear control methods ; Sagittal plane ; Single spring ; Slip model ; Spring loaded inverted pendulums ; Stable locomotion ; Underactuated ; Biped locomotion ; Capillary flow ; Pendulums ; Computer simulation
  8. Source: International Journal of Humanoid Robotics ; Volume 7, Issue 2 , 2010 , Pages 263-280 ; 02198436 (ISSN)
  9. URL: http://www.worldscientific.com/doi/abs/10.1142/S0219843610002106