Control of Hopping Through Active Virtual Tuning of Leg Damping for Serially Actuated Legged Robots

Date

2014-06-07

Author

SEÇER, Gorkem
Saranlı, Uluç

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

137
views

0
downloads

Spring-mass models have been very successful both in describing and generating running behaviors. Control of system energy within these models takes different forms, among which the use of a linear actuator in series with the leg spring has been preferred by many recent monopedal and bipedal platform designs due to its relative robustness and simplicity. However, the validity of the well-known Spring-Loaded Inverted Pendulum (SLIP) model of running for such platforms can only preserved under a specific family of control strategies to drive the actuator. In this paper, we propose a novel controller in this family, based on the idea of embedding a lossy SLIP template with a tunable damping coefficient into the linearly actuated compliant leg system. We show that this maximizes energy input within a single stride, allows decreased power requirements on the actuator compared to alternative methods, while preserving the validity and accuracy of analytic solutions and model-based controllers. We present systematic simulations to establish performance gains with respect to the commonly investigated method of modulating leg stiffness. Enabling the most efficient use of actuator power in this manner while preserving analytic tractability will allow efficient and accurate control of running for linearly actuated compliant leg designs.

Subject Keywords

Actuators, Force, Analytical models , Accuracy , Robots, Springs, Damping, Risk assessment, Risk rating, Risk attitude

URI

https://hdl.handle.net/11511/37772

DOI

https://doi.org/10.1109/icra.2014.6907524

Collections

Department of Computer Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Control of spring-mass running through virtual tuning of leg damping Seçer, Görkem; Saranlı, Uluç; Department of Chemical Engineering (2020) Spring-mass models have been very successful in both describing and generating running behaviors. In this regard, the Spring-Loaded Inverted Pendulum (SLIP) is a useful model to represent hybrid dynamics of both natural and robotic runners. Existing research on dynamically capable legged robots, particularly those based on this model, generally considers improving in isolation the stability and control accuracy on the rough terrain or the energetic efficiency in steady state. On the other hand, the pure SLI...
Synchronization of multiple serially actuated robotic legs using virtual damping control Özen, Merve; Saranlı, Uluç; Department of Computer Engineering (2018) Even though one-legged models have been found to be a useful fundamental basis for understanding and controlling the dynamics of running, animals and physical robots alike often use multiple legs for additional support, dexterity, and stability. In general, the dynamics of such multi-legged morphologies are more complex and their control is more difficult. A common problem in this context is to achieve a particular phase relationship between periodic oscillations of different legs, resulting in different lo...
Global Constraints on Feature Models KARATAS, Ahmet Serkan; OGUZTUZUN, Halit; Doğru, Ali Hikmet (2010-09-10) Feature modeling has been found very effective for modeling and managing variability in Software Product Lines. The nature of feature models invites, sometimes even requires, the use of global constraints. This paper lays the groundwork for the inclusion of global constraints in automated reasoning on feature models. We present a mapping from extended feature models to constraint logic programming over finite domains, and show that this mapping enables using global constraints on feature attributes, as well...
Control of Planar Spring-Mass Running Through Virtual Tuning of Radial Leg Damping Secer, Gorkem; Saranlı, Uluç (Institute of Electrical and Electronics Engineers (IEEE), 2018-10-01) Existing research on dynamically capable legged robots, particularly those based on spring-mass models, generally considers improving in isolation either the stability and control accuracy on the rough terrain, or the energetic efficiency in steady state. In this paper, we propose a new method to address both, based on the hierarchical embedding of a simple spring-loaded inverted pendulum (SLIP) template model with a tunable radial damping coefficient into a realistic leg structure with series-elastic actua...
Detailed design of shell-and-tube heat exchangers using CFD Özden, Ender; Tarı, İlker; Department of Mechanical Engineering (2007) Traditionally Shell-and-tube heat exchangers are designed using correlation based approaches like Kern method and Bell-Delaware method. With the advances in Computational Fluid Dynamics (CFD) software, it is now possible to design small heat exchangers using CFD. In this thesis, shell-and-tube heat exchangers are modeled and numerically analyzed using a commercial finite volume package. The modeled heat exchangers are relatively small, have single shell and tube passes. The leakage effects are not taken int...

Citation Formats

G. SEÇER and U. Saranlı, “Control of Hopping Through Active Virtual Tuning of Leg Damping for Serially Actuated Legged Robots,” 2014, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/37772.