Abstract
As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.
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Acknowledgements
This work was supported by the National Natural Science Foundation of China (Grant No. 51605115), State Key Laboratory of Robotics and System (Self-Planned Task No. SKLRS201719A), Heilongjiang Postdoctoral Financial Assistance (Grant No. LBH-Z16083), and Natural Science Foundation of Heilongjiang Province (Grant No. QC2017052).
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Yu, H., Gao, H., Ding, L. et al. Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain. Front. Mech. Eng. 15, 193–208 (2020). https://doi.org/10.1007/s11465-019-0569-3
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DOI: https://doi.org/10.1007/s11465-019-0569-3