Abstract
A mathematical formalism for designing running gaits in bipedal robots with compliance is introduced and subsequently validated experimentally on MABEL, a planar biped that contains springs in its drivetrain. The methods of virtual constraints and hybrid zero dynamics are used to design a time-invariant feedback controller that respects the natural compliance of the open-loop system. In addition, it also enables active force control within the compliant hybrid zero dynamics allowing within-stride adjustments of the effective stance leg stiffness. The proposed control strategy was implemented on and resulted in a kneed-biped running record of 3.06 m/s (10.9 kph or 6.8 mph).
| Original language | English (US) |
|---|---|
| Pages (from-to) | 324-345 |
| Number of pages | 22 |
| Journal | International Journal of Robotics Research |
| Volume | 32 |
| Issue number | 3 |
| DOIs | |
| State | Published - Mar 2013 |
| Externally published | Yes |
Keywords
- bipedal robots
- compliance
- force control
- hybrid systems
- running
- zero dynamics
ASJC Scopus subject areas
- Software
- Modeling and Simulation
- Mechanical Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence
- Applied Mathematics