Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper.
نویسندگان
چکیده
In this paper, we analyze the self-stability properties of planar running with a dissipative spring-mass model driven by torque actuation at the hip. We first show that a two-dimensional, approximate analytic return map for uncontrolled locomotion with this system under a fixed touchdown leg angle policy and an open-loop ramp torque profile exhibits only marginal self-stability that does not always persist for the exact system. We then propose a per-stride feedback strategy for the hip torque that explicitly compensates for damping losses, reducing the return map to a single dimension and substantially improving the robust stability of fixed points. Subsequent presentation of simulation evidence establishes that the predictions of this approximate model are consistent with the behavior of the exact plant model. We illustrate the relevance and utility of our model both through the qualitative correspondence of its predictions to biological data as well as its use in the design of a task-level running controller.
منابع مشابه
Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation
It has long been established that simple springmass models can accurately represent the dynamics of legged locomotion. Existing work in this domain, however, almost exclusively focuses on the idealized Spring-Loaded Inverted Pendulum (SLIP) model and neglects passive dissipative effects unavoidable in any physical robot or animal. In this paper, we extend on a recently proposed analytic approxi...
متن کاملAnalysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation
It has long been established that simple springmass models can accurately represent the dynamics of legged locomotion. Existing work in this domain, however, almost exclusively focuses on the idealized Spring-Loaded Inverted Pendulum (SLIP) model and neglects passive dissipative effects unavoidable in any physical robot or animal. In this paper, we extend on a recently proposed analytic approxi...
متن کاملNatural dynamics of spring-like running: Emergence of selfstability
In this study, the stability of conservative spring-mass running using a fixed angle of attack is addressed. For a given initial condition, different angles of attack result in periodic movement patterns. We apply a simple stride-to-stride analysis to prove the stability. Spring-like leg operation together with angle of attack control enables selfstabilised running.
متن کاملRobust Fractional Order Control of Under-actuated Electromechanical System
This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...
متن کاملRobust Fractional Order Control of Under-actuated Electromechanical System
This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Chaos
دوره 20 3 شماره
صفحات -
تاریخ انتشار 2010