IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Objective locomotion parameters based inverted pendulum trajectory generator
Robotics and Autonomous Systems
Comparison of Mechanical Design and Energy Consumption of Adaptable, Passive-compliant Actuators
International Journal of Robotics Research
Proxy-based Sliding Mode Control of a Planar Pneumatic Manipulator
International Journal of Robotics Research
Kick it with elasticity: Safety and performance in human-robot soccer
Robotics and Autonomous Systems
Requirements for Safe Robots: Measurements, Analysis and New Insights
International Journal of Robotics Research
Design and control of a lower limb exoskeleton for robot-assisted gait training
Applied Bionics and Biomechanics
Applied Bionics and Biomechanics - Human-Robot Interaction/Interface
Hi-index | 0.00 |
Exploiting natural dynamics for bipedal locomotion, or passive walking, is gaining interest because of its energy efficiency. However, the natural trajectories of a passive walker are fixed during the design, thus limiting its mobility. A possible solution to this problem is creating a "semi-passive walker" equipped with actuators with adaptable compliance, which allows the natural dynamics to be changed according to the situation.This paper proposes a compliance controller, a strategy for continuously changing the compliance in such a way as to adapt the natural motion of the system to a desired trajectory. This opens up the possibility of following a range of different trajectories with a relatively low energy consumption.The idea is to fit the controllable actuator compliance to the "natural" compliance of the desired trajectory, and combine that with trajectory tracking control. This strategy was implemented and tested on a 1-DOF pendulum setup actuated by an antagonistic pair of pleated pneumatic artificial muscles. Both simulations and measurements show that the proposed strategy for choosing actuator compliance can significantly reduce the amount of control activity and energy consumption without harming tracking precision.