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      Control of underactuated planar pronking through an embedded spring-mass Hopper template

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      Author
      Ankaralı, M.M.
      Saranlı, U.
      Date
      2011
      Source Title
      Autonomous Robots
      Print ISSN
      0929-5593
      Volume
      30
      Issue
      2
      Pages
      217 - 231
      Language
      English
      Type
      Article
      Item Usage Stats
      118
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      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 locomotion
      Hexapod 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/11693/22035
      Published Version (Please cite this version)
      http://dx.doi.org/10.1007/s10514-010-9216-x
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      • Department of Computer Engineering 1368
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