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Energy based limit cycle control for elastically actuated biped robots

Garofalo, Gianluca (2017) Energy based limit cycle control for elastically actuated biped robots. Dissertation.

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Official URL: http://mediatum.ub.tum.de/?id=1327035


Legged robots are challenging systems to control due to their hybrid nature, underactuation and unilateral constraints. To perform highly dynamic tasks as jumping and running, performant actuators are required. Elastic joints are often used, but they introduce another source of underactuation in the system. Since locomotion patterns can be described as periodic tasks, in this work controllers are designed to produce asymptotically stable limit cycles by regulating the energy of the system. Different control laws are proposed, both for rigid and elastic joints, with applications to biped locomotion.

Item URL in elib:https://elib.dlr.de/113085/
Document Type:Thesis (Dissertation)
Title:Energy based limit cycle control for elastically actuated biped robots
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, GianlucaGianluca.Garofalo (at) dlr.dehttps://orcid.org/0000-0002-7481-3464
Date:March 2017
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:140
Keywords:nonlinear control, elastic robots, walking, energy control
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: Garofalo, Dr. Ing. Gianluca
Deposited On:14 Jul 2017 17:50
Last Modified:31 Jul 2019 20:10

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