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      Adaptive control of a spring-mass hopper

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      Author
      Uyanık, İsmail
      Saranlı, Uluç
      Morgül, Ömer
      Date
      2011
      Source Title
      2011 IEEE International Conference on Robotics and Automation
      Print ISSN
      1050-4729
      Publisher
      IEEE
      Pages
      2138 - 2143
      Language
      English
      Type
      Conference Paper
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      Abstract
      Practical realization of model-based dynamic legged behaviors is substantially more challenging than statically stable behaviors due to their heavy dependence on second-order system dynamics. This problem is further aggravated by the difficulty of accurately measuring or estimating dynamic parameters such as spring and damping constants for associated models and the fact that such parameters are prone to change in time due to heavy use and associated material fatigue. In this paper, we present an on-line, model-based adaptive control method for running with a planar spring-mass hopper based on a once-per-step parameter correction scheme. Our method can be used both as a system identification tool to determine possibly time-varying spring and damping constants of a miscalibrated system, or as an adaptive controller that can eliminate steady-state tracking errors through appropriate adjustments on dynamic system parameters. We present systematic simulation studies to show that our method can successfully accomplish both of these tasks. © 2011 IEEE.
      Keywords
      Adaptive Control
      Adaptive control methods
      Adaptive controllers
      Damping constants
      Dynamic parameters
      Material fatigue
      ON dynamics
      Parameter correction
      Practical realizations
      Second-order systemss
      Steady state tracking
      Systematic simulation
      Time varying
      Adaptive control systems
      Damping
      Hoppers
      Robotics
      Permalink
      http://hdl.handle.net/11693/28310
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/ICRA.2011.5979726
      Collections
      • Department of Computer Engineering 1368
      • Department of Electrical and Electronics Engineering 3524
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