Adaptive control strategies for open-loop dynamic hopping

Authors:
Marco Hutter;C. David Remy;Roland Siegwart
Affiliations:
Autonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland;Autonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland;Autonomous Systems Lab, Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 6
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Abstract

In the present study, we investigate a control strategy for hopping motions of an articulated leg that is driven by series elastic actuation. A highly compliant spring in the knee joint allows the exploitation of periodic energy storage but creates a major control challenge by severely limiting the bandwidth of closed-loop position or force control. This handicap is intensified by slow actuators, substantial delays, and the kinematic coupling of the articulated design. With classic closed-loop control strategies failing, an adaptive open-loop control algorithm is presented, that, over a series of jumps, estimates the compression of the actuator springs, and gradually modifies the motor inputs in order to minimize slipping and create a purely vertical motion.