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Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions

Beck, Fabian and Rehermann, Maximilian and Reger, Johann and Ott, Christian (2023) Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022, pp. 261-268. IEEE. IEEE-RAS 21st International Conference on Humanoid Robots, 28-30 Nov 2022, Ginowan, Japan. doi: 10.1109/Humanoids53995.2022.10000146. ISBN 979-835030979-9. ISSN 2164-0572.

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Official URL: https://ieeexplore.ieee.org/document/10000146

Abstract

This work focuses on the energy efficient control of a planar bipedal robot by using elastic elements in the joints for short-term energy storage. The considered biped exhibits three degrees of freedom per leg and each joint is equipped with a series-elastic actuator (SEA). A controller is developed to enable point foot hopping based on the spring loaded inverted pendulum template. The control design was split into the highlevel rigid-body and the elastic dynamics and is validated for hopping motions by numerical simulations. A high-level reference design is proposed, which enables that the elastic system can outperform the corresponding rigid counterpart with regard to energy efficiency in stance phase by more than 50 percent.

Item URL in elib:https://elib.dlr.de/194571/
Document Type:Conference or Workshop Item (Speech)
Title:Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Beck, FabianUNSPECIFIEDhttps://orcid.org/0000-0003-3239-5505UNSPECIFIED
Rehermann, MaximilianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Reger, JohannUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:January 2023
Journal or Publication Title:2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/Humanoids53995.2022.10000146
Page Range:pp. 261-268
Publisher:IEEE
ISSN:2164-0572
ISBN:979-835030979-9
Status:Published
Keywords:Robotic control, energy storage, SEA, hopping
Event Title:IEEE-RAS 21st International Conference on Humanoid Robots
Event Location:Ginowan, Japan
Event Type:international Conference
Event Dates:28-30 Nov 2022
Organizer:IEEE
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 - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Geyer, Günther
Deposited On:31 Mar 2023 12:23
Last Modified:22 Feb 2024 10:56

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