Analysis and control of a body-attached spring-mass runner based on central pivot point approach

Date

2020-07-01

Author

Karagoz, O. Kaan
Sever, Izel
Saranlı, Uluç
Ankaralı, Mustafa Mert

Metadata

Show full item record

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

Item Usage Stats

186
views

0
downloads

© 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been used as benchmark models for analyzing the dynamics of legged systems in biology and robotics. The fundamental SLIP model is composed of single point mass attached to the ground (during stance phase) via an ideal lossless spring. Many researchers introduced various extensions to this fundamental model, such as damping torque actuation, to handle critical physical phenomena that are unavoidable in real systems. Another crucial missing concept in SLIP template is the effect of the upper body in humans and humanoid robotic systems on the closed-loop system dynamics. Even though the SLIP template can effectively capture COM behavior, it cannot provide a framework for describing fullbody stabilization and control. In this paper, we present a new control policy called the Central Pivot Point (CPP) for the body attached spring-mass runners. In the stance phase, CPP directs ground reaction forces through the center of mass and cancels the torque created by these forces on the body. In this way, the CPP model makes it possible to develop different controllers for both the body's rotational and euclidean dynamics. Firstly, we analyze the characteristics and stability of the periodic solutions of the CPP model. Then, we develop a PD controller for pitch dynamics and an LQR (Linear Quadratic Regulator) for gait level apex to apex discrete dynamics to stabilize the system's periodic solutions. We compute the basin of attraction of the proposed control scheme and show examples of how the model behaves under disturbances. The results show that the purposed model and associated control policy could be beneficial in the design and control of humanoid robotic systems.

Subject Keywords

Computational modeling, Dynamics, Legged locomotion, Torque, Hip, Damping, Analytical models

URI

https://hdl.handle.net/11511/57937

DOI

https://doi.org/10.1109/aim43001.2020.9158892

Collections

Department of Computer Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

ANALYSIS AND CONTROL OF BODY ATTACHED UNDERACTUATED SPRING MASS RUNNER MORPHOLOGIES Sever Gökmen, İzel; Ankaralı, Mustafa Mert; Saranlı, Uluç; Department of Electrical and Electronics Engineering (2022-2-10) One of the benchmark models for analyzing legged systems in biology and robotics is the Spring-Loaded Inverted Pendulum (SLIP) template and its extensions. The basic SLIP model consists of a single point mass with an ideal spring connecting it to the ground during the stance phase. After its introduction, this model has received numerous extensions to handle physical constraints that exist in practical configurations, such as the upper body's effect on the system dynamics. Although the SLIP template can des...
Design, modeling and preliminary control of a compliant hexapod robot Saranlı, Uluç; Koditschek, Daniel E. (2000-01-01) In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged robotics applications. A compliant hexapod model, used to build a simulation environment closely informed the design and construction of the physical machine and promises to inform, si...
Analysis and control of a running spring-mass model with a trunk based on virtual pendulum concept Karagoz, O K; Secer, G; Ankaralı, Mustafa Mert; Saranli, U (2022-05-26) © 2022 IOP Publishing Ltd.The spring-loaded inverted pendulum model has been one of the most studied conceptual models in the locomotion community. Even though it can adequately explain the center of mass trajectories of numerous legged animals, it remains insufficient in template-based control of complex robot platforms, being unable to capture additional dynamic characteristics of locomotion exhibited in additional degrees of freedom such as trunk pitch oscillations. In fact, analysis of trunk behavior du...
Identification of a vertical hopping robot model via harmonic transfer functions Uyanik, Ismail; Ankaralı, Mustafa Mert; Cowan, Noah J.; Saranlı, Uluç; Morgul, Omer (2016-05-01) A common approach to understanding and controlling robotic legged locomotion is the construction and analysis of simplified mathematical models that capture essential features of locomotor behaviours. However, the representational power of such simple mathematical models is inevitably limited due to the non-linear and complex nature of biological locomotor systems. Attempting to identify and explicitly incorporate key non-linearities into the model is challenging, increases complexity, and decreases the ana...
Prediction of slip in cable-drum systems using structured neural networks KILIÇ, Ergin; Dölen, Melik (SAGE Publications, 2014-02-01) This study focuses on the slip prediction in a cable-drum system using artificial neural networks for the prospect of developing linear motion sensing scheme for such mechanisms. Both feed-forward and recurrent-type artificial neural network architectures are considered to capture the slip dynamics of cable-drum mechanisms. In the article, the network development is presented in a progressive (step-by-step) fashion for the purpose of not only making the design process transparent to the readers but also hig...

Citation Formats

O. K. Karagoz, I. Sever, U. Saranlı, and M. M. Ankaralı, “Analysis and control of a body-attached spring-mass runner based on central pivot point approach,” 2020, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/57937.