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If the control authority of a running system is insufficient to reach a target state in a single step, i.e. if deadbeat control is not possible, then a stabilizing controller is faced with the decision on how to plan intermediate steps. In this work, we compare the performance of a simple greedy control policy (that computes deadbeat inputs and simply caps them) with the optimal performance found...
In this paper we use optimal control on a geared electric DC motor to compare the energetic efficiency of a simulation of conceptual monoped hoppers with either parallel elastic actuation (PEA) or series elastic actuation (SEA). The energy is measured using three cost functions: positive actuator work, electrical losses, and positive electrical work. For PEA, the presence of the motor inertia in the...
Drawing inspiration from nature, this paper introduces and compares two compliant robotic legs that are able to perform precise joint torque and position control, enable passive adaption to the environment, and allow for the exploitation of natural dynamic motions. We report in detail on the design and control of both prototypes and elaborate specifically on the problem of precise foot placement during...
This paper introduces the mechanical design and the control concept of the Series Compliant Articulated Robotic Leg ScarlETH which was developed at ETH Zurich for fast, efficient, and versatile locomotion. Inspired by biological systems, we seek to achieve this through large compliances in the joints which enable natural dynamics, allow temporary energy storage, and improve the passive adaptability...
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