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Single-Leg Forward Hopping via Nonlinear Modes

Calzolari, Davide and Della Santina, Cosimo and Giordano, Alessandro Massimo and Albu-Schäffer, Alin Olimpiu (2022) Single-Leg Forward Hopping via Nonlinear Modes. In: 2022 American Control Conference, ACC 2022, pp. 506-513. IEEE. 2022 American Control Conference (ACC), 2022-06-08 - 2022-06-10, Atlanta, GA, USA. doi: 10.23919/ACC53348.2022.9867538. ISBN 978-1-6654-9480-9. ISSN 0743-1619.

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Official URL: https://ieeexplore.ieee.org/document/9867538


Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg.

Item URL in elib:https://elib.dlr.de/190238/
Document Type:Conference or Workshop Item (Speech)
Title:Single-Leg Forward Hopping via Nonlinear Modes
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Calzolari, DavideUNSPECIFIEDhttps://orcid.org/0000-0003-0165-7621UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115917
Date:June 2022
Journal or Publication Title:2022 American Control Conference, ACC 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 506-513
Keywords:Legged locomotion, Motion segmentation, Modal analysis, Heuristic lgorithms Robustness , Trajectory , Mechanical systems
Event Title:2022 American Control Conference (ACC)
Event Location:Atlanta, GA, USA
Event Type:international Conference
Event Start Date:8 June 2022
Event End Date:10 June 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:02 Dec 2022 17:48
Last Modified:24 Apr 2024 20:51

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