Control of underactuated planar pronking through an embedded spring-mass Hopper template
Author
Ankaralı, M.M.
Saranlı, U.
Date
2011Source Title
Autonomous Robots
Print ISSN
0929-5593
Volume
30
Issue
2
Pages
217 - 231
Language
English
Type
ArticleItem Usage Stats
118
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views
120
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downloads
Abstract
Autonomous use of legged robots in unstructured, outdoor settings requires dynamically dexterous behaviors to achieve sufficient speed and agility without overly complex and fragile mechanics and actuation. Among such behaviors is the relatively under-studied pronking (aka. stotting), a dynamic gait in which all legs are used in synchrony, usually resulting in relatively slow speeds but long flight phases and large jumping heights. Instantiations of this gait for robotic systems have been mostly limited to open-loop strategies, suffering from severe pitch instability for underactuated designs due to the lack of active feedback. However, both the kinematic simplicity of this gait and its dynamic nature suggest that the Spring-Loaded Inverted Pendulum model (SLIP) would be a good basis for the implementation of a more robust feedback controller for 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 very stable pronking for a planar, underactuated hexapod robot. In this context, high-level control of the gait is regulated through speed and height commands to the SLIP template, while the embedding controller ensures the stability of the remaining degrees of freedom. We use simulation studies to show that unlike existing open-loop alternatives, the resulting control structure provides explicit gait control authority and significant robustness against sensor and actuator noise. © 2010 Springer Science+Business Media, LLC.
Keywords
Dynamically dexterous locomotionHexapod robots
Inverse dynamics
Legged robots
Pronking
RHex
Template based control
Dynamically dexterous locomotion
Hexapod robots
Inverse dynamics
Legged robots
Pronking
RHex
Template based control
Biped locomotion
Mechanics
Robots
Controllers
Permalink
http://hdl.handle.net/11693/22035Published Version (Please cite this version)
http://dx.doi.org/10.1007/s10514-010-9216-xCollections
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