This paper presents a control law that induces stable bounding on a model of the quadrupedal robot HyQ designed specifically for highly-dynamic locomotion.
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Abstract—This paper presents a control law that induces stable bounding on a model of the quadrupedal robot HyQ designed specifically for highly-dynamic ...
Abstract—This paper presents a control law that induces stable bounding on a model of the quadrupedal robot HyQ designed specifically for highly-dynamic ...
A control law is presented that induces stable bounding on a model of the quadrupedal robot HyQ designed specifically for highly-dynamic locomotion and ...
The continuous-time controller Γ c creates an actively compliant zero dynamics using torque planning and motion control. The discrete-time controller Γ α ...
Poulakakis, “Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ,” in the Proceedings of the IEEE Conference on Robotics and Biomimetics ...
The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of enhancing both energy efficiency and agility of dynamic locomotion.
The continuous line · Active compliance hybrid zero dynamics control of bounding on HyQ · Conference Paper · Full-text available.
In addition, it also enables active force control within the compliant hybrid zero dynamics allowing within-stride adjustments of the effective stance leg ...
Poulakakis Active Compliance Hybrid Zero. Dynamics Control of Bounding on HyQ. ROBIO, 2015. [5] L.D. Maes, M. Herbin, R. Hackert, V.L. Bels and A. Abourachid.