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Modal Matching: An Approach to Natural Compliant Jumping Control

Lakatos, Dominic and Albu-Schäffer, Alin (2016) Modal Matching: An Approach to Natural Compliant Jumping Control. IEEE Robotics and Automation Letters, 1 (1), pp. 274-281. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2016.2519601 ISSN 2377-3766

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=7386589

Abstract

This letter derives the basic concept of modal matching-an approach to natural motion control. Modal matching exploits the nonlinearity of the rigid multi-body dynamics (and the variability of the elastic transmissions) as degree of freedom to fit the natural plant dynamics to the desired dynamics of the task. Modal matching achieves a desired intrinsic oscillation behavior, which is locally equivalent to the dynamics of the basic spring-loaded inverted pendulum or pogo-stick model (both implementing a linear inertia acting on a linear spring), well established in locomotion analysis and control. Using the concept of modal matching, an efficient and effective methodology to natural jumping control is introduced.

Item URL in elib:https://elib.dlr.de/105318/
Document Type:Article
Title:Modal Matching: An Approach to Natural Compliant Jumping Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:19 January 2016
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:1
DOI :10.1109/LRA.2016.2519601
Page Range:pp. 274-281
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:intrinsic oscillation behavior locomotion analysis locomotion control modal matching multilegged robots natural compliant jumping control natural jumping control natural motion control natural plant dynamics pogo-stick model rigid multibody dynamics spring-loaded inverted pendulum
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lakatos, Dominic
Deposited On:19 Jul 2016 09:21
Last Modified:31 Jul 2019 20:02

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