CoM control for underactuated 2D hopping robots with series-elastic actuation via higher order Partial Feedback Linearization

In this work we introduce a method for enforcing stance phase trajectories on the center of mass (CoM) for a series-elastic actuated 2D hopping robot with realistic actuator dynamics and underactuation. Building on earlier work, we generate CoM trajectories by abstracting the system to a single point mass moving along a 4th order asymmetric trajectory and… CONTINUE READING