Optimal control of a half-circular compliant legged monopod

Date

2014-12-01

Author

AYDIN, Yasemin Ozkan
Saranlı, Afşar
Yazıcıoğlu, Yiğit
Saranlı, Uluç
Leblebicioğlu, Mehmet Kemal

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This paper investigates an optimal control strategy for the dynamic locomotion of a simplified planar compliant half-circular legged monopod model. We first present a novel planar leg model which incorporates rolling kinematics and a new compliance model, motivated by the use of similar leg designs on existing platforms. Two locomotion tasks, moving at a prescribed horizontal velocity and a one-shot jump to maximum possible height or length, are then investigated within this model. The designs of two high-level optimal controllers for these tasks are then described to investigate the performance and stability of resulting behaviors, based on the optimization of trajectory parameters for a closed-loop low-level Proportional-Derivative controller at the hip. Our results show that with these optimized parameters the robot can achieve stable locomotion at a desired horizontal velocity and can successfully jump over and across a specified height and length. Finally, the composition of objective functions capturing multiple criteria is also investigated for the one-shot jump task.

Subject Keywords

Optimal control, RHex, Monopod, Compliant leg, Legged robots

URI

https://hdl.handle.net/11511/37693

Journal

CONTROL ENGINEERING PRACTICE

DOI

https://doi.org/10.1016/j.conengprac.2014.08.005

Collections

Department of Electrical and Electronics Engineering, Article

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Citation Formats

Y. O. AYDIN, A. Saranlı, Y. Yazıcıoğlu, U. Saranlı, and M. K. Leblebicioğlu, “Optimal control of a half-circular compliant legged monopod,” CONTROL ENGINEERING PRACTICE, pp. 10–21, 2014, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/37693.