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IROS
2007
IEEE

Monopedal running control: SLIP embedding and virtual constraint controllers

14 years 5 months ago
Monopedal running control: SLIP embedding and virtual constraint controllers
— Two feedback controllers that induce stable running gaits on a three-degree-of-freedom asymmetric hopper, termed the Asymmetric Spring Loaded Inverted Pendulum (ASLIP), see Fig. 1, are compared in terms of their steady-state and transient behaviors. In each case, feedback is used to create a lower-dimensional hybrid subsystem that determines the existence and stability properties of periodic motions of the full-dimensional closed-loop system. The first controller creates a one degree-of-freedom subsystem through imposing two suitably selected (virtual) holonomic constraints on the configuration variables of the ASLIP. The second controller asymptotically imposes a single (virtual) holonomic constraint to create a two-degree-of-freedom subsystem that is diffeomorphic to a standard Spring Loaded Inverted Pendulum (SLIP). The two controllers induce identical steady-state behaviors. Under transient conditions, however, the underlying compliant nature of the SLIP allows significantly la...
Ioannis Poulakakis, J. W. Grizzle
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Ioannis Poulakakis, J. W. Grizzle
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