Assessment of limit-cycle-based control on 2D kneed biped

Peralta, Jose-Luis; Haarnoja, Tuomas; Ylikorpi, Tomi; Halme, Aarne

doi:10.1109/icra.2011.5980240

Cited by 2 publications

(2 citation statements)

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“…In Table 1, two different control strategies were used in our simulator with different parameters for the robot leading to different natural Limit Cycles (LC) and energy consumptions. Detail explanations on those results are presented the next section and in [6].…”

Section: Idle State Stabilitymentioning

confidence: 90%

“…Table 1 shows the result for two different control strategies under three different parameter sets presented in Table 2. The control strategies are Computed Torque Control (CTC) and Passivity Based Control (PBC) [6]. Parameter sets Set1, Set2, Set3 and Set4 correspond to alternative configurations of the motors placement in Fig1b [7].…”

Section: Limit Cycle Walkingmentioning

confidence: 99%

See 1 more Smart Citation

IDLE STATE STABILITY, LIMIT CYCLE WALKING & REGENERATIVE WALKING: TOWARDS LONG TIME AUTONOMY IN BIPEDS

Peralta-Cabezas

Haarnoja

Ylikorpi

et al. 2010

Emerging Trends in Mobile Robotics

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This work presents an integral approach to tackle energy issues in bipedal robots. It introduces three combined ideas to increase these robots' autonomy: First, the exploitation of the inherent equilibrium that should exist in the rest position of a welldesigned mechanism; then, the efficient usage of the energy to walk based on the natural limit cycle of the system; and finally, the harvest of energy based on the new idea of regenerative walking. Simulations and experimental tests show promising results of this approach, built under a delicate equilibrium between appropriate control scheme, suitable mechanical design and proper actuators choice.

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Section: Idle State Stabilitymentioning

confidence: 90%

Section: Limit Cycle Walkingmentioning

confidence: 99%