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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.
Cited literature [22 references]
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
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