Energetic Efficiency of a Compositional Controller on a Monoped With an Articulated Leg and SLIP Dynamics

Yu, Jeffrey; Hong, Dennis; Haberland, Matt

doi:10.1109/iros.2018.8593638

Cited by 5 publications

(4 citation statements)

References 29 publications

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Section: Methodsmentioning

confidence: 99%

“…To date only a few large-scale Monte Carlo simulations have been attempted using trajectory optimization methods [28], [29], [31], [32]. These have focused on short trajectories [29], [32], enforced a contact order [28] or are using simple models (templates) [32]. Following the results found in [8], whereby it was shown that the optimal method to accelerate and decelerate is to launch straight into the desired velocity/gait, the Fig.…”

Section: Methodsmentioning

confidence: 99%

“…This method requires a large number of complementary constraints which can be found in [36] equation (8) to (16). All contacts are modelled as an inelastic collision [36], [40] and can take one of two modes (sticking or slipping). Slipping is modelled using a coulomb friction model [36].…”

Section: A Constraintsmentioning

confidence: 99%

See 2 more Smart Citations

On the optimal spine morphology of rapidly accelerating quadrupeds

Fisher

Patel

2021

SAIEE Afr. Res. J.

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Animals exploit spine actuation during rapid locomotion, however this has only recently become a focal point in robotics. Roboticists have used a multitude of spine configurations in their platforms but the optimal design for rapid acceleration and deceleration maneuvers is yet to be discovered. In this paper, we endeavour to find this optimal spine morphology by using large-scale Monte Carlo trajectory optimization simulations on long-time-horizon minimum time problems (start and end at rest while travelling a fixed distance of 30 spine lengths). Broad applicability of the results was ensured by generating 100 sets of robot parameters at random from a carefully selected design space, comparing the performance of the rigid, revolute and prismatic spine morphology. Using bootstrapping techniques, it was determined with a 78.8% probability that the prismatic spine morphology was the optimal spine for these long-time-horizon trajectories. These results will serve as a guide for designers of future, agile quadruped robots.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

On the optimal spine morphology of rapidly accelerating quadrupeds

Fisher

Patel

2021

SAIEE Afr. Res. J.

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“…In Ref. [18], a comparison of energetic efficiency between the Raibertstyle controller with embedded SLIP dynamics and the optimal trajectory-based controller for a three-link monopode model is conducted using cost of transport as a criterion. A nonlinear predictive control scheme is constructed in Ref.…”

Section: Introductionmentioning

confidence: 99%

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Gao

Ding

et al. 2020

Front. Mech. Eng.

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As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

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