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Ball dribbling is a central element of basketball. One main challenge for realizing basketball robots is to stabilize periodic motion of the ball. The task is nontrivial due to the discrete-continuous nature of the corresponding dynamics. This paper proposes to add an elastic element to the manipulator so the ball can be controlled in a continuous-time phase instead of an intermittent contact. Optimal...
The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An appropriate coordinate transformation is used to present the equations of motion in the coordinates of the actual degrees of freedom of the system. Virtual constraints of proper dimension lead to reduced dynamics of dimension...
The influence of ankle compliance on bipedal robot locomotion is investigated in this paper. The focus is on reduction of energy consumption. The concept of hybrid zero dynamics is adapted to design walking gaits with three phases: underactuated heel roll, full actuation and underactuated toe roll. Ankle springs work in parallel with the ankle actuators. Stiffness and offset of the linear torsional...
The role of compliance in walking controller synthesis is explored in this paper. Gait is designed for a simple biped with compliant legs using the concept of hybrid zero dynamics. Simultaneous optimization of gait and leg spring stiffness and optimization of gait at a fixed leg spring stiffnesses is carried out. Different cost functions based on energy are considered. The influence of compliance...
Invariance control is a novel approach from control theory for constrained control of nonlinear systems. This paper extends the invariance control method to multi-input systems subject to nonlinear constraints. Experimental results of two robotic applications demonstrate the flexibility of the invariance control approach. The first scenario is trajectory supervision. The second one is haptic rendering...
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