Minimalistic Control Strategies for Damped and Undamped SLIP-based Dynamic Running Robot
Work towards M.Sc. degree under the supervision of Prof. A. Degani
Technion Autonomous Systems Program
Technion – Israel Institute of Technology
The ability of legged locomotion to traverse rough terrain is incomparable to the limited ability of wheeled and tracked platforms. A common and relatively simple model which describes legged dynamics is the Spring Loaded Inverted Pendulum (SLIP) model. This model consists of a point mass and a springy leg. To increase the robustness of the undamped SLIP model to terrain height variation many use the Swing Leg Retraction (SLR) method.
In this seminar we present the instantaneous SLIP model which is a simplification of the SLIP model. Using this simplified model we obtained an analytical formulation of the SLR method as well as simulations and experimental results. Since the real robot is not conservative, the SLR proved to have limited experimental success and therefore we introduce a new controller which takes into account damping. Exploiting the simplified model, we are able to find a fast numerical solution for the dead-beat controller. Combining the numerical solution with the known characteristics of the dead-beat solution, we are able to derive the desired set of controllers throughout the flight phase. This controller has been validated and showed impressive results in simulations and experiments.
The talk will be given in Hebrew
Mon, 18-08-2014, 16:30 (Gathering at 16:00)Classroom 165, ground floor, Library, Aerospace Eng.
Light refreshments will be served before the lecture