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Start Over Author "Ozkan, Aydin" Publisher elsevier bv
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6. Optimal control of a half-circular compliant legged monopod

Author

Uluc Saranli, Yigit Yazicioglu, Kemal Leblebicioglu, Yasemin Ozkan aydin, and Afsar Saranli

Subjects
Engineering, business.industry, Applied Mathematics, Rhex, Kinematics, Optimal control, Stability (probability), Computer Science Applications, Computer Science::Robotics, Control and Systems Engineering, Control theory, Trajectory, Jump, Robot, Electrical and Electronic Engineering, business, Simulation
Abstract

This paper investigates an optimal control strategy for the dynamic locomotion of a simplified planar compliant half-circular legged monopod model. We first present a novel planar leg model which incorporates rolling kinematics and a new compliance model, motivated by the use of similar leg designs on existing platforms. Two locomotion tasks, moving at a prescribed horizontal velocity and a one-shot jump to maximum possible height or length, are then investigated within this model. The designs of two high-level optimal controllers for these tasks are then described to investigate the performance and stability of resulting behaviors, based on the optimization of trajectory parameters for a closed-loop low-level Proportional-Derivative controller at the hip. Our results show that with these optimized parameters the robot can achieve stable locomotion at a desired horizontal velocity and can successfully jump over and across a specified height and length. Finally, the composition of objective functions capturing multiple criteria is also investigated for the one-shot jump task. (C) 2014 Elsevier Ltd. All rights reserved.

Published
2014
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