Varying velocity hopping gait planning of a one-legged robot

Author

Haili Qian ; Lei Sun ; Ruitao Qiu ; Jingtai Liu

Author_Institution

Tianjin Key Lab. of Intell. Robot., Nankai Univ., Tianjin, China

fYear

2014

Firstpage

2068

Lastpage

2073

Abstract

For the one-legged robot, a modified SLIP model is studied in this paper and dynamical characteristics of flight phase, impact phase and stance phase in hopping gait are analyzed. A hybrid dynamics correspond to these phases are derived by Newton-Euler Recursive Approach. Through dynamics, the gait planning of stable hopping and different forwarding velocities transition are mathematically described. Based on the Serial Elastic Actuator (SEA) mounted in joints, one formulation of system actuated force/torque is proposed from the point of energy injection. Then a planning procedure of the stable hopping and transition between different forwarding velocities are described respectively by this formulation. Feasibilities of the proposed gait planning method in this paper are verified by simulations.

Keywords

Newton method; actuators; force control; legged locomotion; path planning; robot dynamics; stability; torque control; velocity control; Newton-Euler recursive approach; SEA; actuated force/torque; dynamical characteristics; energy injection; flight phase; forwarding velocities transition; hopping gait planning; hybrid dynamics; impact phase; modified SLIP model; one-legged robot; serial elastic actuator; stable hopping; stance phase; Couplings; Force; Joints; Legged locomotion; Planning; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on

Type

conf

DOI

10.1109/ROBIO.2014.7090641

Filename

7090641