Reactive planning and control of planar spring-mass running on rough terrain

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dc.citation.epage579en_US
dc.citation.issueNumber3en_US
dc.citation.spage567en_US
dc.citation.volumeNumber28en_US
dc.contributor.authorArslan, Ö.en_US
dc.contributor.authorSaranlı, U.en_US
dc.date.accessioned2016-02-08T09:49:07Z
dc.date.available2016-02-08T09:49:07Z
dc.date.issued2012en_US
dc.departmentDepartment of Computer Engineeringen_US
dc.description.abstractAn important motivation for work on legged robots has always been their potential for high-performance locomotion on rough terrain. Nevertheless, most existing control algorithms for such robots either make rigid assumptions about their environments or rely on kinematic planning at low speeds. Moreover, the traditional separation of planning from control often has negative impact on the robustness of the system. In this paper, we introduce a new method for dynamic, fully reactive footstep planning for a planar spring-mass hopper, based on a careful characterization of the model dynamics and the design of an associated deadbeat controller, used within a sequential composition framework. This yields a purely reactive controller with a large domain of attraction that requires no explicit replanning during execution. We show in simulation that plans constructed for a simplified dynamic model can successfully control locomotion of a more complete model across rough terrain. We also characterize the performance of the planner over rough terrain and show that it is robust against both model uncertainty and measurement noise without replanning. © 2012 IEEE.en_US
dc.description.provenanceMade available in DSpace on 2016-02-08T09:49:07Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 70227 bytes, checksum: 26e812c6f5156f83f0e77b261a471b5a (MD5) Previous issue date: 2012en
dc.identifier.doi10.1109/TRO.2011.2178134en_US
dc.identifier.eissn1941-0468
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/11693/21637
dc.language.isoEnglishen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/TRO.2011.2178134en_US
dc.source.titleIEEE Transactions on Roboticsen_US
dc.subjectFootstep planningen_US
dc.subjectReactive controlen_US
dc.subjectRobust controlen_US
dc.subjectSequential compositionen_US
dc.subjectSpring - mass runningen_US
dc.subjectLarge domainen_US
dc.subjectLegged robotsen_US
dc.subjectLow speeden_US
dc.subjectMeasurement noiseen_US
dc.subjectModel dynamicsen_US
dc.subjectModel uncertaintiesen_US
dc.subjectRe - planningen_US
dc.subjectReactive controlen_US
dc.subjectRough terrainsen_US
dc.subjectAlgorithmsen_US
dc.subjectComputer simulationen_US
dc.subjectControllersen_US
dc.subjectLandformsen_US
dc.subjectUncertainty analysisen_US
dc.subjectRobot programmingen_US
dc.titleReactive planning and control of planar spring-mass running on rough terrainen_US
dc.typeArticleen_US

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