Adaptive control of a spring-mass hopper

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dc.citation.epage2143en_US
dc.citation.spage2138en_US
dc.contributor.authorUyanık, İsmailen_US
dc.contributor.authorSaranlı, Uluçen_US
dc.contributor.authorMorgül, Ömeren_US
dc.coverage.spatialShanghai, Chinaen_US
dc.date.accessioned2016-02-08T12:17:07Z
dc.date.available2016-02-08T12:17:07Z
dc.date.issued2011en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.departmentDepartment of Computer Engineeringen_US
dc.descriptionDate of Conference: 9-13 May 2011en_US
dc.description.abstractPractical 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.en_US
dc.description.provenanceMade available in DSpace on 2016-02-08T12:17:07Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 70227 bytes, checksum: 26e812c6f5156f83f0e77b261a471b5a (MD5) Previous issue date: 2011en
dc.identifier.doi10.1109/ICRA.2011.5979726en_US
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/11693/28310
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ICRA.2011.5979726en_US
dc.source.title2011 IEEE International Conference on Robotics and Automationen_US
dc.subjectAdaptive Controlen_US
dc.subjectAdaptive control methodsen_US
dc.subjectAdaptive controllersen_US
dc.subjectDamping constantsen_US
dc.subjectDynamic parametersen_US
dc.subjectMaterial fatigueen_US
dc.subjectON dynamicsen_US
dc.subjectParameter correctionen_US
dc.subjectPractical realizationsen_US
dc.subjectSecond-order systemssen_US
dc.subjectSteady state trackingen_US
dc.subjectSystematic simulationen_US
dc.subjectTime varyingen_US
dc.subjectAdaptive control systemsen_US
dc.subjectDampingen_US
dc.subjectHoppersen_US
dc.subjectRoboticsen_US
dc.titleAdaptive control of a spring-mass hopperen_US
dc.typeConference Paperen_US

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