Fuzzy controlled hopping in a biped robot

  title={Fuzzy controlled hopping in a biped robot},
  author={Yiping Liu and Patrick M. Wensing and David E. Orin and James P. Schmiedeler},
  journal={2011 IEEE International Conference on Robotics and Automation},
Current biped robots with articulated legs, even the most impressive to date, still lack the ability to execute dynamic motions such as jumping and running with comparable performance to biological systems. This work explores dynamic jumping with the planar biped prototype KURMET, which employs unidirectional series-elastic actuation at each of its joints. While this actuation scheme enables the performance of high-power dynamic movements like the jump, its presence complicates the jumping… CONTINUE READING