Phase control for a legged microrobot operating at resonance

Abstract

We present an off-board phase estimator and controller for leg position near the resonance of the Harvard Ambulatory MicroRobot's (HAMR) two degree-of-freedom transmission. This control system is a first step towards leveraging the significant increase in stride length at transmission resonance for faster and more efficient locomotion. We experimentally… (More)
DOI: 10.1109/ICRA.2017.7989704

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