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Jumping Control for Compliantly Actuated Multilegged Robots

Lakatos, Dominic and Garofalo, Gianluca and Dietrich, Alexander and Albu-Schäffer, Alin (2014) Jumping Control for Compliantly Actuated Multilegged Robots. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4562-4568. International Conference on Robotics and Automation, 2014-05-31 - 2014-06-07, Hong Kong, China. doi: 10.1109/icra.2014.6907525.

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A feedback control to generate jumping motions for compliantly actuated multilegged robots is proposed. The method allows to specify the direction of the jumping motion. This is achieved by a constraint that defines a one-dimensional submanifold and a bang-bang control which generates a limit cycle on this submanifold. The approach is based on classical impedance control with the difference that the stiffness on the submanifold and the force to preserve a predefined nominal body configuration result from the intrinsic mechanical springs in the joints. Furthermore, we propose two controller implementations: the first implementation does not require to detect the contact state, while the second implementation requires contact state detection, but accounts in addition for Coulomb friction constraints. The controller is validated in simulation with a compliantly actuated quadruped.

Item URL in elib:https://elib.dlr.de/89440/
Document Type:Conference or Workshop Item (Speech)
Title:Jumping Control for Compliantly Actuated Multilegged Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Garofalo, GianlucaUNSPECIFIEDhttps://orcid.org/0000-0002-7481-3464UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074139192986
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:31 May 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 4562-4568
Series Name:Proceedings of the IEEE International Conference on Robotics and Automation
Keywords:nonlinear oscillations cyclic motions control of nonlinear systems limit cycles submanifolds
Event Title:International Conference on Robotics and Automation
Event Location:Hong Kong, China
Event Type:international Conference
Event Start Date:31 May 2014
Event End Date:7 June 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lakatos, Dominic
Deposited On:08 Sep 2014 10:16
Last Modified:24 Apr 2024 19:55

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