Abstract:
:This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles. The algorithm is shown here implemented on a spring-loaded inverted pendulum model in simulation, and can be configured to approach fixed running height over uneven terrain or self-stable terrain following. Offline search identifies unique landing conditions that achieve a desired apex height with a constant stride period over varying ground levels. Because the time between the apex and touchdown events is directly related to ground height, the landing conditions can be computed in real time as continuous functions of this falling time. Enforcing a constant stride period reduces the need for inertial sensing of the apex event, which is nontrivial for physical systems, and allows for clocked feedfoward control of the swing leg.
journal_name
Bioinspir Biomimjournal_title
Bioinspiration & biomimeticsauthors
Palmer LR 3rd,Eaton CEdoi
10.1088/1748-3182/9/3/036018subject
Has Abstractpub_date
2014-09-01 00:00:00pages
036018issue
3eissn
1748-3182issn
1748-3190journal_volume
9pub_type
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journal_title:Bioinspiration & biomimetics
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