By Topic

Biologically inspired compliant control of a monopod designed for highly dynamic applications

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Blank, S. ; Dept. of Comput. Sci., Univ. of Kaiserslautern, Kaiserslautern, Germany ; Wahl, T. ; Luksch, T. ; Berns, K.

In this paper the compliant low level control of a biologically inspired control architecture suited for bipedal dynamic walking robots is presented. It consists of elastic mechanics, a low-level compliant joint controller and a hierarchical reflex-based control layer. The former is implemented on a DSP while the reflex network is located on a desktop PC. Thus, one is able to utilize distribution as a powerful means to guarantee low latency and scalability. The concept is tested on a prototype leg mounted on a vertical slider that is designed to perform cyclic squat jumps. Thus, a suited mechatronic setup that features highly dynamic actuators as well as energy storage capabilities is derived. Cyclical jumping is employed as a benchmark for the system's performance. Experimental results of the prototype setup as well as simulation runs are presented and compared to human squat jumping.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009