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      Control of underactuated planar hexapedal pronking through a dynamically embedded SLIP monopod

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      Author(s)
      Ankarali, M.M.
      Saranlı, Uluç
      Saranli, A.
      Date
      2010
      Source Title
      2010 IEEE International Conference on Robotics and Automation
      Print ISSN
      1050-4729
      Publisher
      IEEE
      Pages
      4721 - 4727
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
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      Abstract
      Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations of this gait suffer from severe pitch instability either due to underactuation, or the lack of sufficient feedback. Nevertheless, the dynamic nature of this gait suggests that the Spring-Loaded Inverted Pendulum Model (SLIP), a very successful predictive model for both natural and robotic runners, would be a good basis for more robust and maneuverable robotic 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 stable and controllable pronking for a planar, underactuated hexapod model. In this context, high-level control of the gait is regulated through speed and height commands to the SLIP template, while the embedding controller based on approximate inverse-dynamics and carefully designed passive dynamics ensures the stability of the remaining degrees of freedom. We show through extensive simulation experiments that unlike existing open-loop alternatives, the resulting control structure provides stability, explicit maneuverability and significant robustness against sensor and actuator noise. ©2010 IEEE.
      Keywords
      Approximate inverse
      Control structure
      Controller structures
      Degrees of freedom
      Dynamic nature
      Extensive simulations
      Flight phasis
      Open loops
      Predictive models
      Rough terrains
      Sensor and actuators
      Show through
      Spring loaded inverted pendulums
      Template-based
      Under-actuation
      Underactuated
      Controllers
      Robots
      Robotics
      Permalink
      http://hdl.handle.net/11693/28556
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/ROBOT.2010.5509450
      Collections
      • Department of Computer Engineering 1435
      • Department of Electrical and Electronics Engineering 3702
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