Single-Leg Forward Hopping via Nonlinear Modes

Single-Leg Forward Hopping via Nonlinear Modes

Calzolari, Davide (Technische Universität München; Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))
Della Santina, C. (TU Delft Learning & Autonomous Control; Technische Universität München; Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))
Giordano, Alessandro Massimo (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR); Technische Universität München)
Albu-Schaffer, Alin (Technische Universität München; Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))

2022

Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg.

Legged locomotion
Motion segmentation
Modal analysis
Heuristic algorithms
Robustness
Trajectory
Mechanical systems

http://resolver.tudelft.nl/uuid:e17aea39-238d-4db9-92c9-06cc760b3d33

https://doi.org/10.23919/ACC53348.2022.9867538

IEEE

2023-03-05

978-1-6654-5196-3

Proceedings of the American Control Conference (ACC 2022)

2022 American Control Conference, ACC 2022, 2022-06-08 → 2022-06-10, Atlanta, United States

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2022 Davide Calzolari, C. Della Santina, Alessandro Massimo Giordano, Alin Albu-Schaffer