TY - GEN
T1 - Precision Jumping Limits from Flight-phase Control in Salto-1P
AU - Yim, Justin K.
AU - Fearing, Ronald S.
N1 - Funding Information:
This material is based upon work supported by the United States Army Research Laboratory under the Micro Autonomous Science and Technology Collaborative Technology Alliance and the Army Research Office Grant No. W911NF-18-1-0038.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - We developed a deadbeat foot placement hopping controller for an untethered monopedal robot, Salto-1P. The controller uses a third order Taylor series approximation to an offline dynamic model and performs well on the physical platform. The robot demonstrated precise foot placement even on trajectories with aggressive changes in speed, direction, and height: in a random walk, its error standard deviation was 0.10 m. We establish how foot placement precision is tightly limited by attitude control accuracy, requiring attitude error less than 0.7 degrees for some tasks. We also show how foot placement precision degrades linearly as hopping height increases. These precision results apply to the large class of controllers that prescribe touchdown angle to control running velocity.
AB - We developed a deadbeat foot placement hopping controller for an untethered monopedal robot, Salto-1P. The controller uses a third order Taylor series approximation to an offline dynamic model and performs well on the physical platform. The robot demonstrated precise foot placement even on trajectories with aggressive changes in speed, direction, and height: in a random walk, its error standard deviation was 0.10 m. We establish how foot placement precision is tightly limited by attitude control accuracy, requiring attitude error less than 0.7 degrees for some tasks. We also show how foot placement precision degrades linearly as hopping height increases. These precision results apply to the large class of controllers that prescribe touchdown angle to control running velocity.
UR - http://www.scopus.com/inward/record.url?scp=85059036569&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2018.8594154
DO - 10.1109/IROS.2018.8594154
M3 - Conference contribution
AN - SCOPUS:85059036569
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2229
EP - 2236
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -