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Energy Efficient Control of Running Legged Robots. A Case Study : The Planar One-Legged Hopper

Abstract : The paper addresses the problem of energy-efficient control of running legged mechanisms via the case study of the planar one-legged hopper. Due to its mechanical simplicity, the planar one-legged hopper is generally considered as the basic prototype of mechanisms capable of ballistic running gaits. What makes this system particularly interesting is that, endowed with a proper selection of springs, it can be controlled without spending much actuation energy. Giving core to this possibility has already motivated a few studies, but has not yet, to our knowledge, been extensively explored. The present study is another attempt in this direction. Being primarily motivated by control design and analysis aspects, we have tried to set the basis of a methodology for the derivation of a new class of simple controllers capable of stabilizing passive periodic motions. Elements of this class are explicited by making specific choices about the model used for control design and the control actuation setting. Although stability analysis is not complete, for reasons which are explained in the paper, the soundness of the proposed approach is illustrated via simulation. The study also unveils new results and intriguing questions, among which some could prove to be central to a better understanding of legged locomotion in general, its potentialities and also its limitations.
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Submitted on : Wednesday, May 24, 2006 - 1:26:44 PM
Last modification on : Friday, February 4, 2022 - 3:19:26 AM
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  • HAL Id : inria-00073666, version 1



Charles François, Claude Samson. Energy Efficient Control of Running Legged Robots. A Case Study : The Planar One-Legged Hopper. RR-3027, INRIA. 1996. ⟨inria-00073666⟩



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