SLIP-Based Concept of Combined Limb and Body Control of Force-Driven Robots

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.
Author Patrick Vonwirth
Patrick Vonwirth,,
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, Atabak Nejadfard
Atabak Nejadfard,,
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, Krzysztof Mianowski (FPAE / IAAM)
Krzysztof Mianowski,,
- The Institute of Aeronautics and Applied Mechanics
, K. Berns
K. Berns,,
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Pages547-556
Publication size in sheets0.5
Book Zeghloul Saïd, Laribi Med Amine, Sandoval Arevalo Juan Sebastian (eds.): Advances in Service and Industrial Robotics : results of RAAD, Mechanisms and Machine Science, vol. 84, 2020, , Springer, ISBN 978-3-030-48988-5, [978-3-030-48989-2], 609 p., DOI:10.1007/978-3-030-48989-2
Keywords in EnglishAbstracting, Biomimetics, Biped locomotion, Robots, Bipedal locomotion, Bipedal robot, Control approach, Hardware abstractions, Mass modeling, Mathematical approach, Mathematical proof, Spring loaded inverted pendulums
DOIDOI:10.1007/978-3-030-48989-2_58
Languageen angielski
Score (nominal)20
Score sourcepublisherList
ScoreMinisterial score = 20.0, 21-07-2020, ChapterFromConference
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