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Giordano, Alessandro Massimo and Stivala, Simone and Calzolari, Davide and Albu-Schäffer, Alin Olimpiu (2023) Energy and angular momentum control of robot running. In: 31st Mediterranean Conference on Control and Automation, MED 2023, pp. 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.
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Official URL: https://ieeexplore.ieee.org/document/10185799
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/202331/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Energy and angular momentum control of robot running | ||||||||||||||||||||
| Authors: |
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| Date: | July 2023 | ||||||||||||||||||||
| Journal or Publication Title: | 31st Mediterranean Conference on Control and Automation, MED 2023 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||
| DOI: | 10.1109/MED59994.2023.10185799 | ||||||||||||||||||||
| Page Range: | pp. 554-561 | ||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||
| ISSN: | 2325-369X | ||||||||||||||||||||
| ISBN: | 979-835031543-1 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | robot running | ||||||||||||||||||||
| Event Title: | 2023 31st Mediterranean Conference on Control and Automation (MED) | ||||||||||||||||||||
| Event Location: | Limassol, Cyprus | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 26 June 2023 | ||||||||||||||||||||
| Event End Date: | 29 June 2023 | ||||||||||||||||||||
| 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) | ||||||||||||||||||||
| Deposited By: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
| Deposited On: | 23 Jan 2024 15:13 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 21:02 |
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