Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation
Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation
复制标题
通过力分布和能量调节对双足机器人进行重复跳跃控制
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
C. Ott
中科院分区：
文献类型：
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作者：
Gianluca Garofalo;C. Ott
The paper presents a new control law to initiate and stop a sequence of repetitive jumps in elastically actuated legged robots. The control approach relies on three control strategies, which are effectively combined to realize the task: hierarchical task space decomposition, balancing force redistribution and energy regulation. A toy example motivates the interconnection of the three parts, while an experimental evaluation is used to corroborate the effectiveness of the controller on a complex biped robot.
