Giordano, Alessandro Massimo und Stivala, Simone und Calzolari, Davide und Albu-Schäffer, Alin Olimpiu (2023) Energy and angular momentum control of robot running. In: 31st Mediterranean Conference on Control and Automation, MED 2023, Seiten 554-561. IEEE. 2023 31st Mediterranean Conference on Control and Automation (MED), 2023-06-26 - 2023-06-29, Limassol, Cyprus. doi: 10.1109/MED59994.2023.10185799. ISBN 979-835031543-1. ISSN 2325-369X.
Dieses Archiv kann nicht den Volltext zur Verfügung stellen.
Offizielle URL: https://ieeexplore.ieee.org/document/10185799
Kurzfassung
A new approach for running by exploiting passive elastic dynamics is addressed in this paper. A control method based on energy and angular momentum regulation is proposed. The controller exploits invariance properties of energy and angular momentum to achieve stabilization of passive gaits with almost zero control effort after convergence. The passive gaits are derived based on a modified version of the well-known SLIP model, which takes into account the pitch dynamics during the flight phase, which is otherwise disregarded by the conventional SLIP model. Based on this model, the interesting phenomenon of running in presence of persistent somersaulting is investigated and persistently-somersaulting running gaits are identified and analyzed. Numerical simulations investigate the method and confirm the effectiveness in ideal conditions.
elib-URL des Eintrags: | https://elib.dlr.de/202331/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Energy and angular momentum control of robot running | ||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||
Datum: | Juli 2023 | ||||||||||||||||||||
Erschienen in: | 31st Mediterranean Conference on Control and Automation, MED 2023 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/MED59994.2023.10185799 | ||||||||||||||||||||
Seitenbereich: | Seiten 554-561 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 2325-369X | ||||||||||||||||||||
ISBN: | 979-835031543-1 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | robot running | ||||||||||||||||||||
Veranstaltungstitel: | 2023 31st Mediterranean Conference on Control and Automation (MED) | ||||||||||||||||||||
Veranstaltungsort: | Limassol, Cyprus | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 26 Juni 2023 | ||||||||||||||||||||
Veranstaltungsende: | 29 Juni 2023 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
Hinterlegt am: | 23 Jan 2024 15:13 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:02 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags