HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Reports

Can an Underactuated Leg with a Passive Spring at the Knee Achieve a Ballistic Step?

Abstract : In this paper, we present the design and the results of a control scheme aimed at moving an underactuated double pendulum simulating a leg. The system is actuated at the hip and includes a spring at the knee. It interacts with the grou nd, which is in fact a treadmill, through a telescopic foot made of a linear spring and a damper. The control scheme is different in the 2 phases, swing and stance, and a repetitive step is achieved by switching between these two controls. The paper describes the used models, the control algorithms and their implementation. It presents also experimental results of the approach.
Document type :
Reports
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download

https://hal.inria.fr/inria-00073140
Contributor : Rapport de Recherche Inria Connect in order to contact the contributor
Submitted on : Wednesday, May 24, 2006 - 11:58:07 AM
Last modification on : Thursday, April 28, 2022 - 12:16:02 AM
Long-term archiving on: : Sunday, April 4, 2010 - 11:35:28 PM

Identifiers

  • HAL Id : inria-00073140, version 1

Collections

Citation

Bernard Espiau, Isabelle Guigues, Roger Pissard-Gibollet. Can an Underactuated Leg with a Passive Spring at the Knee Achieve a Ballistic Step?. RR-3544, INRIA. 1998. ⟨inria-00073140⟩

Share

Metrics

Record views

47

Files downloads

225