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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.
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https://hal.inria.fr/inria-00073140
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Submitted on : Wednesday, May 24, 2006 - 11:58:07 AM
Last modification on : Thursday, February 11, 2021 - 2:40:03 PM
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  • HAL Id : inria-00073140, version 1

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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⟩

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