Design and control of a recovery system for legged robots

  title={Design and control of a recovery system for legged robots},
  author={Kevin R. Green and Nils Smit-Anseeuw and Rodney Gleason and C. David Remy},
  journal={2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)},
This paper describes the design and control of a support and recovery system for use with planar legged robots. The system operates in three modes. First, it can be operated in a fully transparent mode where no forces are applied to the robot. In this mode, the system follows the robot closely to be able to quickly catch the robot if needed. Second, it can provide a vertical supportive force to assist a robot during operation. Third, it can catch the robot and pull it away from the ground after… 

Carl — A compliant robotic leg featuring mono- and biarticular actuation

The Compliant Robotic Leg (Carl) is presented — a fully actuated bio-inspired planar robotic leg that incorporates mono-as well as biarticular actuation that demonstrates distributed high-fidelity force and impedance control at the actuator level.

The Energetic Benefit of Robotic Gait Selection—A Case Study on the Robot RAMone

Using a realistic model of the RAMone robot, a series of trajectory optimizations show that at low speeds it is most economical to perform a ballistic walking gait with an instantaneous transfer of support and at higher speeds, spring-mass running with an extended air-phase becomes the optimal gait.

Effects of Foot Stiffness and Damping on Walking Robot Performance

In this paper, how the stiffness and damping properties of soft robotic feet affect the stability and energetic economy of bipedal robotic walking is investigated and the feet with lower damping are found to be more economical across all walking speeds.

Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot

A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical

RAMone: A planar biped for studying the energetics of gait

This paper introduces RAMone, a series-elastic planar biped with knees, built to study the energetics of bipedal locomotion. RAMone is designed to achieve versatile, economical motion using

Failure recovery method based on log for autonomous robotic system

The EMACRobot system showed that the method based on log would reduce the duration of failure recovery, inherit control work before failure happens, and improve the robustness of autonomous mobile robot.

Learning Stable and Energetically Economical Walking with RAMone

This paper optimize over the control parameter space of the planar-bipedal robot, RAMone, for stable and energetically economical walking at various speeds using Covariance Matrix Adaptation.

ScarlETH: Design and control of a planar running robot

This paper introduces the mechanical design and the control concept of the Series Compliant Articulated Robotic Leg ScarlETH which was developed at ETH Zurich for fast, efficient, and versatile

Design and Philosophy of the BiMASC, a Highly Dynamic Biped

The BiMASC will enable the study of the role of both controllable compliance in running and will serve as a test platform for control strategies that utilize the leg springs and other natural dynamics of the robot.

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL

Five experiments are presented that highlight different aspects of MABEL and the feedback design method, ranging from basic elements such as stable walking and robustness under perturbations, to energy efficiency and a walking speed of 1.5 m s−1 (3.4 mph).

Robust spring mass model running for a physical bipedal robot

This work addresses the implementation and verification step for the implementation of the control approach for a human-sized bipedal robot platform confined to a boom and shows that it leads to very robust running over unobserved ground in a high fidelity simulation of the robot platform.

The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control

How the passive stabilization, that is inherent to the SLIP model, greatly influences the dynamics of the controlled system is highlighted and some new insights into the structure of basins of attractions of SLIP-like running models are revealed.

Series elastic actuators

  • G. PrattM. Williamson
  • Engineering
    Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
  • 1995
It is proposed that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea.

Robotic Bipedal Running: Increasing disturbance rejection

The goal of the research presented in this thesis is to increase the understanding of the human running gait. The understanding of the human running gait is essential for the development of devices,

Learning, planning, and control for quadruped locomotion over challenging terrain

A floating-base inverse dynamics controller that allows for robust, compliant locomotion over unperceived obstacles and the generalization ability of this controller is demonstrated by presenting results from testing performed by an independent external test team on terrain that has never been shown to us.

Uniroo--a one legged dynamic hopping robot