Adaptive control strategies for open-loop dynamic hopping

@article{Hutter2009AdaptiveCS,
  title={Adaptive control strategies for open-loop dynamic hopping},
  author={Marco Hutter and C. David Remy and Roland Siegwart},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={154-159}
}
In the present study, we investigate a control strategy for hopping motions of an articulated leg that is driven by series elastic actuation. A highly compliant spring in the knee joint allows the exploitation of periodic energy storage but creates a major control challenge by severely limiting the bandwidth of closed-loop position or force control. This handicap is intensified by slow actuators, substantial delays, and the kinematic coupling of the articulated design. With classic closed-loop… CONTINUE READING