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

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4 Author(s)
Sebastian Blank ; Robotics Research Lab, Department of Computer Sciences, University of Kaiserslautern, PO Box 3049, 67663, Germany ; Thomas Wahl ; Tobias Luksch ; Karsten Berns

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:

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

10-15 Oct. 2009