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In this paper, we present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. Our strategy combines two ideas: an existing flight phase policy, and a novel stance phase impulse control policy. The state-of-the-art flight phase policy commands a leg angle trajectory that results in a consistent horizontal center-of-mass...
In this paper, we present a novel control strategy for spring-mass running gaits which is robust to disturbances, while still utilizing the passive dynamic behavior of the mechanical model for energy economy. Our strategy combines two ideas: a flight phase strategy, which commands a hip angle trajectory prior to touchdown, and a stance phase strategy, which treats the spring-mass system as a force-controlled...
In this paper, we present a novel control strategy for spring-mass running gaits which is robust to disturbances, while still utilizing the passive dynamic behavior of the mechanical model for energy economy. Our strategy combines two ideas: a flight phase strategy, which commands a hip angle trajectory prior to touchdown, and a stance phase strategy, which treats the spring-mass system as a force-controlled...
For robotic manipulation tasks in uncertain environments, good force control can provide significant benefits. The design of force or torque controlled actuators typically revolves around developing the best possible software control strategy. However, the passive dynamics of the mechanical system, including inertia, stiffness, damping and torque limits, often impose performance limitations that cannot...
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