Control of Underactuated Planar Hexapedal Pronking Through a Dynamically Embedded SLIP Monopod

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2010-05-08

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Ankaralı, Mustafa Mert
Saranlı, Uluç
Saranlı, Afşar

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Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations of this gait suffer from severe pitch instability either due to underactuation, or the lack of sufficient feedback. Nevertheless, the dynamic nature of this gait suggests that the Spring-Loaded Inverted Pendulum Model (SLIP), a very successful predictive model for both natural and robotic runners, would be a good basis for more robust and maneuverable robotic pronking. In this paper, we describe how "template-based control", a controller structure based on the embedding of a simple dynamical "template" within a more complex "anchor" system, can be used to achieve stable and controllable pronking for a planar, underactuated hexapod model. In this context, high-level control of the gait is regulated through speed and height commands to the SLIP template, while the embedding controller based on approximate inverse-dynamics and carefully designed passive dynamics ensures the stability of the remaining degrees of freedom. We show through extensive simulation experiments that unlike existing open-loop alternatives, the resulting control structure provides stability, explicit maneuverability and significant robustness against sensor and actuator noise.

Subject Keywords

Ocomotion, Design

URI

https://hdl.handle.net/11511/47887

DOI

https://doi.org/10.1109/robot.2010.5509450

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Department of Electrical and Electronics Engineering, Conference / Seminar

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Control of hexapedal pronking through a dynamically embedded spring loaded inverted pendulum template Ankaralı, Mustafa Mert; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2010) Pronking is a legged locomotory gait in which all legs are used in synchrony, usually resulting in slow speeds but long flight phases and large jumping heights that may potentially be useful for mobile robots locomoting in cluttered natural environments. Instantiations of this gait for robotic systems suffer from severe pitch instability either due to underactuated leg designs, or the open-loop nature of proposed controllers. Nevertheless, both the kinematic simplicity of this gait and its dynamic nature su...
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Citation Formats

M. M. Ankaralı, U. Saranlı, and A. Saranlı, “Control of Underactuated Planar Hexapedal Pronking Through a Dynamically Embedded SLIP Monopod,” 2010, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/47887.