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IROS
2009
IEEE

Biologically inspired compliant control of a monopod designed for highly dynamic applications

13 years 10 months ago
Biologically inspired compliant control of a monopod designed for highly dynamic applications
— In this paper the compliant low level control of a biologically inspired control architecture suited for bipedal dynamic walking robots is presented. It consists of elastic mechanics, a low-level compliant joint controller and a hierarchical reflex-based control layer. The former is implemented on a DSP while the reflex network is located on a desktop PC. Thus, one is able to utilize distribution as a powerful means to guarantee low latency and scalability. The concept is tested on a prototype leg mounted on a vertical slider that is designed to perform cyclic squat jumps. Thus, a suited mechatronic setup that features highly dynamic actuators as well as energy storage capabilities is derived. Cyclical jumping is employed as a benchmark for the system’s performance. Experimental results of the prototype setup as well as simulation runs are presented and compared to human squat jumping.
Sebastian Blank, Thomas Wahl, Tobias Luksch, Karst
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Sebastian Blank, Thomas Wahl, Tobias Luksch, Karsten Berns
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