Toward the control of a multi-jointed, monoped runner

Download

index.pdf

Date

1998-05-20

Author

Saranlı, Uluç
Koditschek, D.E.

Metadata

Show full item record

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

Item Usage Stats

48
views

106
downloads

We propose a new family of controllers for multi-jointed planar monoped runners, based on approximate but accurate models of the stance phase dynamics of a two degree of freedom "SLIP" leg. Unlike previous approaches, the new scheme gives control over all parameters of the system including the hopping height, forward speed and duty cycle. The control laws are "deadbeat" in nature, derived by computing the inverse of an approximate return map and corrected by integral compensation. We use the expressions obtained in this way to control the original SLIP leg as well as radically different, more realistic four degree of freedom legs. In each case, the performance of the deadbeat scheme in controlling forward running velocity is compared to a modified Raibert control strategy, whose experimental stability properties have been analyzed carefully in the low degree of freedom setting.

Subject Keywords

Leg, Humans, Velocity control, Nonlinear dynamical systems, Biological system modeling, Control systems, Stability analysis, Control system analysis, Nonlinear control systems, Animals

URI

https://hdl.handle.net/11511/46468

DOI

https://doi.org/10.1109/robot.1998.680750

Collections

Department of Computer Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Comparison of position controllers designed for an elastic system using its complete and deficient dynamic models Özgören, Mustafa Kemal (2010-01-01) This article is concerned with comparing the position controllers designed for an elastic system using its complete and deficient dynamic models. The system considered here as an application example consists of three rotors connected with two elastic shafts. Three kinds of controller are designed and compared. Controller-3 is designed using the complete dynamic model of the system. Therefore, it works perfectly, satisfying all the specified requirements. Controller-2 is designed based on a deficient model t...
Optimal control of a half-circular compliant legged monopod AYDIN, Yasemin Ozkan; Saranlı, Afşar; Yazıcıoğlu, Yiğit; Saranlı, Uluç; Leblebicioğlu, Mehmet Kemal (2014-12-01) 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-l...
Adaptive decentralized control of interconnected systems Sezer, ME; Altunel, H (2004-08-01) This paper presents a decentralized adaptive stabilization scheme for a class of interconnected systems using high-gain adaptive controllers. The nominal subsystems are assumed to satisfy some mild conditions required by standard adaptive control schemes, and the interconnections certain structural conditions. The decentralized controllers are high-gain dynamic systems operating on local outputs to generate local control inputs. Both continuous-time and sampled-data controllers are considered. The idea behi...
Sliding mode control with optimal sliding surfaces for missile autopilot design Salamci, MU; Özgören, Mustafa Kemal; Banks, SP (2000-07-01) A new method is introduced to design sliding mode control with optimally selected sliding surfaces for a class of nonlinear systems. The nonlinear systems are recursively approximated as linear time-varying systems, and corresponding time-varying sliding surfaces are designed for each approximated system so that a given optimization criterion is minimized. The control input, which is designed by using an approximated system, is then applied to the nonlinear system. The method is used to design an autopilot ...
Adaptive output feedback control with reduced sensitivity to sensor noise Kutay, Ali Türker; Hovakimyan, N (2003-01-01) We address adaptive output feedback control of uncertain nonlinear systems with noisy output measurements, in which both the dynamics and the dimension of the regulated system may be unknown, and only the relative degree of the regulated output is assumed to be known. Given a smooth reference trajectory, the problem is to design a controller that forces the system measurement to track it with bounded errors. A recently developed method proposes the use of a linear error observer that estimates the tracking ...

Citation Formats

U. Saranlı and D. E. Koditschek, “Toward the control of a multi-jointed, monoped runner,” 1998, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/46468.