Article detail · 2004
Template based control of hexapedal running
- Year
- 2004
- Type
- conference-paper
Abstract
OpenAlex · English
In this paper, we introduce a hexapedal locomotion controller that simulation evidence suggests will be capable of driving our RHex robot at speeds exceeding five body lengths per second with reliable stability and rapid maneuverability. We use a low dimensional passively compliant biped as a "template" - a control target for the alternating tripod gait of the physical machine. We impose upon the physical machine an approximate inverse dynamics within-stride controller designed to force the true high dimensional system dynamics down onto the lower dimensional subspace corresponding to the template. Numerical simulations suggest the presence of asymptotically stable running gaits with large basins of attraction. Moreover, this controller improves substantially the maneuverability and dynamic range of RHex's running behaviors relative to the initial prototype open-loop algorithms.
Topics
Citations
OpenAlex cited_by_count. Not a WoS or Scopus citation count; those sources have no separate column here.
71 citations
OpenAlex cited_by_count (cache / database)
21 publications in the local catalog that cite this work (OpenAlex reference match; not the full global list).
- 11 Eylül Sonrası Dönemde Kafkasya da Bölgesel Güvenlik Eski Çatısmalar ve Yeni Açılımlar 2011
- Approximate analytic solutions to non-symmetric stance trajectories of the passive Spring-Loaded Inverted Pendulum with damping 2010
- Approximate analytic solutions to non-symmetric stance trajectories of the passive Spring-Loaded Inverted Pendulum with damping 2010
- Approximate analytic solutions to non symmetric stance trajectories of the passive Spring Loaded Inverted Pendulum with damping 2010
- Turkey and Russia in the Black Sea Region Dynamics of Cooperation and Conflict 2012
- Control of underactuated planar pronking through an embedded spring-mass Hopper template 2011
- Control of underactuated planar pronking through an embedded spring mass Hopper template 2011
- An approximate stance map of the spring mass hopper with gravity correction for nonsymmetric locomotions 2009
- Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template 2015
- Experimental Validation of a Feed Forward Predictor for the Spring Loaded Inverted Pendulum Template 2015