Template-based hopping control of a bio-inspired segmented robotic leg

@article{Oehlke2016TemplatebasedHC,
  title={Template-based hopping control of a bio-inspired segmented robotic leg},
  author={Jonathan Oehlke and Maziar Ahmad Sharbafi and Philipp Beckerle and Andr{\'e} Seyfarth},
  journal={2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
  year={2016},
  pages={35-40}
}
In human hopping in place, the axial leg function is representable by a spring mass model. This description can be utilized to control robot hopping. In this paper, the SLIP (spring loaded inverted pendulum) model is employed as a template for the control of MARCO Hopper II, a robot with a two-segmented leg. Using VMC (virtual model control) a spring is emulated between the foot and hip joint. The required knee torque is generated by a cable-driven actuator to mimic the unilateral knee extensor… CONTINUE READING
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