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The planar and energetically conservative Spring-Loaded Inverted Pendulum (SLIP) model with a linear spring has been modified in recent years to include an articulated knee, friction and contact losses, and energy thrusts during stance to stabilize forward velocity and hopping height. The work presented here advances the SLIP template toward a biological anchor by adding a third parallel articulating...
Taking inspiration from local leg feedback control loops present in animal legs, a force threshold-based position (FTP) controller is presented to aid with legged locomotion over irregular terrain. The algorithm uses pre-planned position trajectories and force feedback to either elevate or depress the foot. The FTP controller isolates the control of each leg to use only localized feedback, which can...
A legged system that can negotiate moderately uneven terrain without human intervention or a vision-based control system can allow those resources, if available, to be concentrated on high-level tasks. This paper presents results of preliminary research on the application of a Force Threshold-based Position (FTP) Controller on an upright quadruped system blindly walking on irregular terrain. The algorithm...
A Force Threshold-based Position (FTP) controller is presented for cyclic legged locomotion over irregular terrain. Force feedback in the form of threshold comparison is used to control each leg independently. The FTP controller decouples the control of individual legs and uses only localized feedback to generate joint torques. No feedback of body state is needed and no multi-leg Jacobian is computed...
Biological studies on animal walking and running have contributed to the control of mobile robots. Taking inspiration from such studies, a hybrid impulse-position (HIP) controller has been developed for legged locomotion over uneven terrain. The HIP controller generates joint torques during the stance phase of each leg cycle to propel and stabilize the body, and is meant to operate with CPG-based...
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