Transfer and Evaluation of Decentralized Reactive Swing-Leg Controls for Powered Robotic Legs

Abstract

Animals and legged robots balance dynamically by placing their feet into proper ground targets [1], which can be identified with simple locomotion models [2][3]. Commonly, fully robotic systems realize identified foot placements using inverse dynamics and kinematics [4], which requires a highfidelity system model and accurate estimate of a robot's full state, whereas human-in-the-loop applications rely on extensive motion libraries extracted from healthy human gait [5]. Both approaches may fail in highly dynamic situations, such as trips when encountering unexpected obstacles.

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Cite this paper

@inproceedings{Schepelmann2015TransferAE, title={Transfer and Evaluation of Decentralized Reactive Swing-Leg Controls for Powered Robotic Legs}, author={Alexander Clifford Schepelmann and Jane E. Austin and Hartmut Geyer}, year={2015} }