Speed-adaptive control scheme for legged running robots

Details Speed-adaptive control scheme for legged running robots Speed-adaptive control scheme for legged running robots

2007-11-13

2007-11-13

Black, Thomas (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S258000, C318S510000

Reexamination Certificate

active

10750573

ABSTRACT:
A control scheme for legged running machines which is based on a decoupled control of system energy and kinematic trajectory is described.

REFERENCES:
Zeglin; The Bow Leg Hopping Robot; CMU-RI-TR-99-33; The Robotics Institute; Carnegie Mellon University; Pittsburgh, PA; Oct. 21, 1999; pp. 1-161.
Hyon et al.; “Energy-Preserving Control of a Passive One-Legged Running Robot;” VSP and Robotics Society of Japan 2004; Advanced Robotics, vol. 18, No. 4, Jan. 2004; pp. 357-381 (2004).
Hyon et al.; “Dynamics-Based Control of a One-Legged Hopping Robot;” Proc. Instn. Mech. Engrs. vol. 217, Part I; J. Systems and Control Engineering; 105502; IMechE 2003; Jan. 2003; pp. 83-98.
Zeglin et al.; “Control of Bow Leg Hopping Robot;” The robotics Institute; Carnegie Mellon University; Pittsburgh, PA 15213, USA; 6 pages.
Buehler; “Dynamic Locomotion with One, Four and Six-Legged Robots;” Ambulatory Robatics Laboratory, Centre for Intelligent Machines; McGill University; Montreal, Quebec, Canada, H3A 2A7; www.cim.mcgill.ca/˜artweb; pp. 1-6.

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