A Torque-Actuated Dissipative Spring Loaded Inverted Pendulum Model with Rolling Contact and its use as the Template for Design and Dynamic Behavior Generation on a Hexapod Robot

被引：0

作者：

Hu, Chia-Jui ^{[1
]}

Huang, Chun-Kai ^{[1
]}

Lin, Pei-Chun ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Mech Engn, 1 Roosevelt Rd Sec 4, Taipei 10764, Taiwan

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2015年

关键词：

LEGGED LOCOMOTION; VISCOSITY;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We report on a model-based approach for robot design and its dynamic motion generation. A new torque-actuated dissipative spring loaded inverted pendulum model with rolling contact (TDR-SLIP) is proposed to serve as the motion template for the robot. It is a successor to a previously developed spring loaded inverted pendulum model with rolling contact (R-SLIP) model but with embedded energy flow, which has better mapping to empirical robots. The stability properties of the TDR-SLIP model are analyzed, and its stable motion trajectory is implemented on the robot as the control guidance. The robot leg is developed according to the morphology and function of the TDR-SLIP leg, which acts as the design guidance. The proposed model-based approach is experimentally evaluated and finds that the robot is able to exhibit running behavior with various speeds and leg mechanics settings.

引用

页码：5177 / 5183

页数：7