Adaptive Control of a Spring-Mass Hopper
Practical realization of model-based dynamic legged behaviors is substantially more challenging than statically stable behaviors due to their heavy dependence on secondorder system dynamics. This problem is further aggravated by the difficulty of accurately measuring or estimating dynamic parameters such as spring and damping constants for associated models and the fact that such parameters are prone to change in time due to heavy use and associated material fatigue. In this paper, we present an on-line, model-based adaptive control method for running with a planar spring-mass hopper based on a once-per-step parameter correction scheme. Our method can be used both as a system identification tool to determine possibly time-varying spring and damping constants of a miscalibrated system, or as an adaptive controller that can eliminate steadystate tracking errors through appropriate adjustments on dynamic system parameters. We present systematic simulation studies to show that our method can successfully accomplish both of these tasks.
Ismail Uyan(i)k Ulu(c) Saranl(i) (O)mer Morg(u)l
Dept. of Electrical and Electronics Engineering,Bilkent University,06800 Ankara,Turkey Dept. of Computer Engineering,Bilkent University,06800 Ankara,Turkey
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2138-2143
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）