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

Targeted Jumping of Compliantly Actuated Hoppers based on Discrete Planning and Switching Control

Lakatos, Dominic and Seidel, Daniel and Friedl, Werner and Albu-Schäffer, Alin (2015) Targeted Jumping of Compliantly Actuated Hoppers based on Discrete Planning and Switching Control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5802-5808. IEEE. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 28. Sept. - 02. Okt. 2015, Hamburg, Deutschland.

[img] PDF
309kB

Abstract

We address the operation of robotic legs with intrinsic elasticity in hopping cycles determined by the mechanical resonant properties of the system. This ensures energy efficiency and high jumping velocity and distance. Recently, we have shown in simulation that a simple, biologically inspired bang-bang controller operating in the local coordinate of the first resonant mode leads to limit cycles which are robust with respect to leg model uncertainties and ground properties. In this paper we address the velocity control of the hopping and the planning of the bang-bang control parameters for the case that the systems should not move at steady state velocity, but should have different step lengths and heights. We exploit the discrete structure and the small number of parameters of the controller to develop a fast optimization procedure for generating an arbitrary sequence of steps. This approach can provide high motion performance, robustness and substantial computational time saving compared to continuous trajectory and controller gain planning. The stationary and the aperiodic hopping is validated by experiments on a new planar elastic leg.

Item URL in elib:https://elib.dlr.de/98667/
Document Type:Conference or Workshop Item (Speech)
Title:Targeted Jumping of Compliantly Actuated Hoppers based on Discrete Planning and Switching Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Seidel, Danieldaniel.seidel (at) dlr.deUNSPECIFIED
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:September 2015
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 5802-5808
Publisher:IEEE
Status:Published
Keywords:Nonlinear control, limit cycles, compliant actuators, switching control, discrete planing
Event Title:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Hamburg, Deutschland
Event Type:international Conference
Event Dates:28. Sept. - 02. Okt. 2015
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
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:13 Nov 2015 21:31
Last Modified:31 Jul 2019 19:55

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.