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Heuristic control of bipedal running: steady-state and accelerated†

Published online by Cambridge University Press:  15 March 2011

A. D. Perkins ,
K. J. Waldron  and
P. J. Csonka
A. D. Perkins*
Affiliation:
Robotic Locomotion Laboratory, Mechanical Engineering Department, Stanford University, Stanford, CA 94305, USA. E-mails: kwaldron@stanford.edu, pcsonka@stanford.edu
K. J. Waldron
Affiliation:
Robotic Locomotion Laboratory, Mechanical Engineering Department, Stanford University, Stanford, CA 94305, USA. E-mails: kwaldron@stanford.edu, pcsonka@stanford.edu
P. J. Csonka
Affiliation:
Robotic Locomotion Laboratory, Mechanical Engineering Department, Stanford University, Stanford, CA 94305, USA. E-mails: kwaldron@stanford.edu, pcsonka@stanford.edu
*
*Corresponding author. E-mail: alexp2@stanford.edu
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Summary

The design, control, and actuation of legged robots that walk is well established, but there remain unsolved problems for legged robots that run. In this work, dynamic principles are used to develop a set of heuristics for controlling bipedal running and acceleration. These heuristics are then converted into control laws for two very different bipedal systems: one with a high-inertia torso and prismatic knees and one with a low-inertia torso, articulated knees, and mechanical coupling between the knee and ankle joints. These control laws are implemented in simulation to achieve stable steady-state running, accelerating, and decelerating. Stable steady-state running is also achieved in a planar experimental system with a semiconstrained torso.

Keywords

Control of robotic systemsLegged robotsBipedsBiomimetic robotsRobot dynamics
Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011 , pp. 939 - 947
Copyright
Copyright © Cambridge University Press 2011

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Footnotes

†

This paper was originally submitted under the auspices of the CLAWAR Association. It is an extension of work presented at CLAWAR 2009: The 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey.

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