ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)(2024)
摘要
While many advancements have been made in the development of template models
for describing upright-trunk locomotion, the majority of the effort has been
focused on the stance phase. In this paper, we develop a new compact dynamic
model as a first step toward a fully unified locomotion template model
(ULT-model) of an upright-trunk forward hopping system, which will also require
a unified control law in the next step. We demonstrate that all locomotion
subfunctions are enabled by adding just a point foot mass and a parallel leg
actuator to the well-known trunk SLIP model and that a stable limit cycle can
be achieved. This brings us closer toward the ultimate goal of enabling
closed-loop dynamics for anchor matching and thus achieving simple, efficient,
robust and stable upright-trunk gait control, as observed in biological
systems.
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关键词
ULT-model,upright trunk,upright-trunk locomotion,fully unified locomotion template model,upright-trunk forward hopping system,unified control law,locomotion subfunctions,parallel leg actuator,trunk SLIP model,upright-trunk gait control,limit cycle,closed-loop dynamics,anchor matching
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