DC Field | Value | Language |
---|---|---|
dc.contributor.author | Sreenath, Koushil | ko |
dc.contributor.author | Park, Hae-Won | ko |
dc.contributor.author | Poulakakis, Ioannis | ko |
dc.contributor.author | Grizzle, J. W. | ko |
dc.date.accessioned | 2019-03-20T01:00:05Z | - |
dc.date.available | 2019-03-20T01:00:05Z | - |
dc.date.created | 2019-03-19 | - |
dc.date.created | 2019-03-19 | - |
dc.date.issued | 2013-03 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.32, no.3, pp.324 - 345 | - |
dc.identifier.issn | 0278-3649 | - |
dc.identifier.uri | http://hdl.handle.net/10203/252003 | - |
dc.description.abstract | A mathematical formalism for designing running gaits in bipedal robots with compliance is introduced and subsequently validated experimentally on MABEL, a planar biped that contains springs in its drivetrain. The methods of virtual constraints and hybrid zero dynamics are used to design a time-invariant feedback controller that respects the natural compliance of the open-loop system. In addition, it also enables active force control within the compliant hybrid zero dynamics allowing within-stride adjustments of the effective stance leg stiffness. The proposed control strategy was implemented on MABEL and resulted in a kneed-biped running record of 3.06 m/s (10.9 kph or 6.8 mph). | - |
dc.language | English | - |
dc.publisher | SAGE PUBLICATIONS LTD | - |
dc.title | Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL | - |
dc.type | Article | - |
dc.identifier.wosid | 000317693400004 | - |
dc.identifier.scopusid | 2-s2.0-84876226791 | - |
dc.type.rims | ART | - |
dc.citation.volume | 32 | - |
dc.citation.issue | 3 | - |
dc.citation.beginningpage | 324 | - |
dc.citation.endingpage | 345 | - |
dc.citation.publicationname | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | - |
dc.identifier.doi | 10.1177/0278364912473344 | - |
dc.contributor.localauthor | Park, Hae-Won | - |
dc.contributor.nonIdAuthor | Sreenath, Koushil | - |
dc.contributor.nonIdAuthor | Poulakakis, Ioannis | - |
dc.contributor.nonIdAuthor | Grizzle, J. W. | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | bipedal robots | - |
dc.subject.keywordAuthor | running | - |
dc.subject.keywordAuthor | hybrid systems | - |
dc.subject.keywordAuthor | zero dynamics | - |
dc.subject.keywordAuthor | compliance | - |
dc.subject.keywordAuthor | force control | - |
dc.subject.keywordPlus | BIPEDAL WALKING | - |
dc.subject.keywordPlus | LEGGED LOCOMOTION | - |
dc.subject.keywordPlus | ROUGH TERRAIN | - |
dc.subject.keywordPlus | ROBOT | - |
dc.subject.keywordPlus | EFFICIENT | - |
dc.subject.keywordPlus | STIFFNESS | - |
dc.subject.keywordPlus | STABILITY | - |
dc.subject.keywordPlus | SPRINGS | - |
dc.subject.keywordPlus | RABBIT | - |
dc.subject.keywordPlus | GAIT | - |
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