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Optimal Landing Strategy for Two-Mass Hopping Leg with Natural Dynamics

Title
Optimal Landing Strategy for Two-Mass Hopping Leg with Natural Dynamics
Authors
Lee, ChanOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2020-04
Citation
IEEE Robotics and Automation Letters, 5(2), 3588-3595
Type
Article
Article Type
Article
Author Keywords
Legged robotscompliance and impedance controlhumanoid and bipedal locomotion
Keywords
2-LINK MANIPULATOR
ISSN
2377-3766
Abstract
It is necessary for a robotic leg to behave like a spring to realize a periodic hopping, since it can be efficient and does not require complicated control algorithm. However, the impact force makes the realization of periodic hopping more challenging. In this letter, an optimal landing strategy for a hopping leg is proposed, which can realize continuous hopping motion only by natural dynamics. The proposed strategy can reduce the foot landing velocity to zero and thus minimize the impact force. The formulation to derive the optimal condition is derived theoretically based on two-mass leg model, and its effectiveness is verified through various simulations and experiments using a series elastic actuator-driven robot leg.
URI
http://hdl.handle.net/20.500.11750/11814
DOI
10.1109/LRA.2020.2979633
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
Files:
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)1. Journal Articles


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