SLIP-Based Concept of Combined Limb and Body Control of Force-Driven Robots
Authors:
- Patrick Vonwirth,
- Atabak Nejadfard,
- Krzysztof Mianowski,
- K. Berns
Abstract
Many different approaches in hard- and software have been investigated to achieve bipedal locomotion. They can be partitioned into two separate classes: Mathematical approaches, offering provable stability, and bio-inspired ones, reproducing natural observations. The paper at hand presents a new concept to overcome this separation. By generalizing several SLIP variations (Spring Loaded Inverted Pendulum), a new type of hardware abstraction, the so-called Central Mass Model (CMM), is introduced. The CMM is designed to directly support the execution of bio-inspired control approaches, while its physical simplicity still allows for mathematical proofs. A controller, implementing the CMM abstraction on a force-driven robot, is derived and described in detail for the bipedal robot Carl. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020.
- Record ID
- WUT82ef6b19d29044a9a494705f06bd9012
- Author
- Pages
- 547-556
- Publication size in sheets
- 0.50
- Book
- Zeghloul Saïd, Saïd Zeghloul Laribi Med Amine, Med Amine Laribi Sandoval Arevalo Juan Sebastian Juan Sebastian Sandoval Arevalo (eds.): Advances in Service and Industrial Robotics : results of RAAD, Mechanisms and Machine Science, vol. 84, 2020, , Springer, 609 p., ISBN 978-3-030-48988-5. DOI:10.1007/978-3-030-48989-2 Opening in a new tab
- Keywords in English
- Abstracting, Biomimetics, Biped locomotion, Robots, Bipedal locomotion, Bipedal robot, Control approach, Hardware abstractions, Mass modeling, Mathematical approach, Mathematical proof, Spring loaded inverted pendulums
- DOI
- DOI:10.1007/978-3-030-48989-2_58 Opening in a new tab
- Language
- (en) English
- Score (nominal)
- 20
- Score source
- publisherList
- Score
- = 20.0, 03-05-2022, ChapterFromConference
- Publication indicators
- = 0
Share
- Uniform Resource Identifier
- https://repo.pw.edu.pl/info/article/WUT82ef6b19d29044a9a494705f06bd9012/
- URN
urn:pw-repo:WUT82ef6b19d29044a9a494705f06bd9012
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or PerishOpening in a new tab system.