Force control for spring-mass walking and running

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2010, Pages 639-644

  Koepl, Devin ^a   Kemper, Kevin ^a   Hurst, Jonatha ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

ACTIVE CONTROL; ACTIVE FORCE CONTROL; CONTROL ACTUATORS; ENERGY ECONOMY; FORCE PROFILE; PASSIVE SYSTEMS; SPRING-MASS MODEL; STANCE PHASE; STEADY-STATE OPERATION; SUDDEN DISTURBANCE; SYSTEM-BASED;

ANIMALS; ASYMPTOTIC ANALYSIS; COMPUTER SIMULATION; FORCE CONTROL; MECHATRONICS;

INTELLIGENT MECHATRONICS;

EID: 79951609854     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2010.5695797     Document Type: Conference Paper

References (17)

1. G. N. R. P. Marc Raibert, Kevin Blankespoor and the BigDog Team, "Bigdog, the rough-terrain quaduped robot," April 2008.
2. M. Raibert, Legged Robots That Balance. Cambridge, Mass.: MIT Press, 1986.
3. M. Ahmadi, "Controlled passive dynamic running experiments with the arl-monopod ii," IEEE Transactions on Robotics, vol. 22, pp. 974-986, October 2006. (Pubitemid 44604863)
4. G. Cavagna, "Storage and utilization of elastic energy in skeletal muscle," Exercise Sports Science, vol. 5, pp. 89-129, 1977.
5. S. H. C. M. W. A. R. R. Tedrake, "Efficient bipedal robots based on passive-dynamic walkers," Science, vol. 307, pp. 1082-1085, 2005.
6. S. H. C. M. W. A. Ruina, "A 3-d passive dynamic walking robot with two legs and knees," International Journal of Robotics Research, vol. 20, pp. 607-615, 2001.
7. M. A. Daley, J. R. Usherwood, G. Felix, and A. A. Biewener, "Running over rough terrain: guinea fowl maintain dynamic stability despite a large unexpected change in substrate height," The Journal of Experimental Biology, vol. 209, pp. 171-187, November 2005. (Pubitemid 43163674)
8. A. Wilson and P. McGuigan, "'pogo stick' horse legs need better track surfaces," Journal of Experimental Biology, vol. 206, p. 1261, 2003.
9. G. A. Pratt and M. M. Williamson, "Series elastic actuators," in IEEE International Conference on Intelligent Robots and Systems, vol. 1, pp. 399-406, 1995.
10. D. W. Robinson, J. E. Pratt, D. J. Paluska, and G. A. Pratt, "Series elastic actuator development for a biomimetic walking robot," in IEEE/ASME international conference on advanced intelligent mechatronics, September 1999.
11. K. Kemper, D. Koepl, and J. Hurst, "Optimal passive dynamics for torque/force control," in IEEE International Conference on Robotics and Automation, 2010.
12. M. Buehler, R. Playter, and M. Raibert, "Robots step outside," in International Symposium Adaptive Motion of Animals and Machines, 2005.
13. J. Pratt and G. Pratt, "Exploiting natural dynamics in the control of a planar bipedal walking robot," in Proceedings of the Thirty-Sixth Annual Allerton Conference on Communication, Control, and Computing, (Monticello, IL), September 1998.
14. C. T. Farley, H. H. P. Houdijk, C. V. Strien, and M. Louie, "Mechanism of leg stiffness adjustment for hopping on surfaces of different stiffnesses," The American Physiological Society, pp. 1044-1055, 1998. (Pubitemid 28413286)
15. J. E. C. Jonathan W. Hurst and A. A. Rizzi, "An actuator with physically variable stiffness for highly dynamic legged locomotion," in IEEE Conference on Robotics and Automation, 2004.
16. R. V. H. P. B. Bjrn Verrelst, Bram Vanderborght and D. Lefeber, "Novel robotic applications using adaptable compliant actuation. An implementation towards reduction of energy consumption for legged robots," Mobile Robots, Moving Intelligence, pp. 513-534, December 2006.
17. D. P. Ferris and C. T. Farley, "Interaction of leg stiffness and surface stiffness during human hopping," The American Physiological Society, pp. 15-22, 1997. (Pubitemid 27052038)