Passively stable hopping of an articulated leg with a tendon-coupled ankle

Csonka, PJ; Perkins, AD; Waldron, KJ

Passively stable hopping of an articulated leg with a tendon-coupled ankle

Csonka, PJ Perkins, AD Waldron, KJ

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Publication Type:: Conference Proceeding
Citation:: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 3629 - 3633
Issue Date:: 2010-12-01

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Field	Value	Language
dc.contributor.author	Csonka, PJ	en_US
dc.contributor.author	Perkins, AD	en_US
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2010-12-01	en_US
dc.identifier.citation	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 3629 - 3633	en_US
dc.identifier.isbn	9781424466757	en_US
dc.identifier.uri	http://hdl.handle.net/10453/16395
dc.description.abstract	Dynamic maneuvers have been successfully implemented on many prismatic legged robots. Systems with articulated legs of significant relative mass pose more of a challenge in part due to the physics of thrusting with rotating limbs, which results in undesired non-vertical impulses, and in part due to the control problem of synchronizing ankle and knee joints. Presented here is an experimental articulated leg system that simplifies the control of an articulated monopod through the use of a joint-coupling tendon. The ankle is coupled to the thigh with an inelastic tendon, which causes automatic horizontal impulse compensation on liftoff for varying knee thrusts. Using a tendon-coupled ankle, stable sustained hopping is achieved for a fixed-torso monopod with a very simple control strategy, and with minimal hip actuator effort, while hopping in place is achieved for short time periods with a bipedal robot with freely pitching torso. ©2010 IEEE.	en_US
dc.relation.ispartof	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings	en_US
dc.relation.isbasedon	10.1109/IROS.2010.5654291	en_US
dc.title	Passively stable hopping of an articulated leg with a tendon-coupled ankle	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Taipei, Taiwan	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

Dynamic maneuvers have been successfully implemented on many prismatic legged robots. Systems with articulated legs of significant relative mass pose more of a challenge in part due to the physics of thrusting with rotating limbs, which results in undesired non-vertical impulses, and in part due to the control problem of synchronizing ankle and knee joints. Presented here is an experimental articulated leg system that simplifies the control of an articulated monopod through the use of a joint-coupling tendon. The ankle is coupled to the thigh with an inelastic tendon, which causes automatic horizontal impulse compensation on liftoff for varying knee thrusts. Using a tendon-coupled ankle, stable sustained hopping is achieved for a fixed-torso monopod with a very simple control strategy, and with minimal hip actuator effort, while hopping in place is achieved for short time periods with a bipedal robot with freely pitching torso. ©2010 IEEE.

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http://hdl.handle.net/10453/16395