Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking g...

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Hauptverfasser: Sreenath, K, Hae-Won Park, Poulakakis, I, Grizzle, J W
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Sprache:eng
Schlagworte:
Actuators
Leg
Legged locomotion
Robot kinematics
Springs
Torso
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Hae-Won Park
Poulakakis, I
Grizzle, J W
description This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait.
doi_str_mv 10.1109/CDC.2010.5718060
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Actuators
Leg
Legged locomotion
Robot kinematics
Springs
Torso
title Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL
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