DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Energy and angular momentum control of robot running

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.

Full text not available from this repository.

Official URL: https://ieeexplore.ieee.org/document/10185799


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/
Document Type:Conference or Workshop Item (Speech)
Title:Energy and angular momentum control of robot running
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Stivala, SimoneTechnische Universität München, TUMUNSPECIFIEDUNSPECIFIED
Calzolari, DavideUNSPECIFIEDhttps://orcid.org/0000-0003-0165-7621UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074151380120
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 ISI Web of Science:Yes
Page Range:pp. 554-561
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

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.