Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping
Galljamov R, Ahmadi A, Mohseni O, Seyfarth A, Beckerle P, Sharbafi MA (2021)
Publication Type: Journal article
Publication year: 2021
Journal
Book Volume: 6
Pages Range: 6797-6804
Article Number: 9477157
Journal Issue: 4
Abstract
Achieving efficient and human-like hopping motions with consistent consecutive patterns requires proper mechanical design and control. In this regard, we introduce a new bioinspired design and control approach comprised of a hybrid actuation system and force-based compliance control. Combining an electric motor with a pneumatic artificial muscle makes up the so-called Electric-Pneumatic Actuation (EPA) system which enables presetting the leg compliance. Using the ground reaction force for online adjustment of EPA allows controlling the leg stiffness. This approach combines a simplified version of reflex-based control and physical impedance adjustment, that resembles the human neuromuscular system in a parsimonious way. By optimizing PAM pressures and control gains for different targeted hopping heights using Bayesian optimization, we show experimentally that the proposed approach generates various stable hopping motions and yields efficient performance. Moreover, our method is shown to be capable of creating more human-like hopping patterns compared to the previous studies on the same robot.
Authors with CRIS profile
Involved external institutions
Germany (DE)How to cite
APA:
Galljamov, R., Ahmadi, A., Mohseni, O., Seyfarth, A., Beckerle, P., & Sharbafi, M.A. (2021). Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping. IEEE Robotics and Automation Letters, 6(4), 6797-6804. https://doi.org/10.1109/LRA.2021.3095024
MLA:
Galljamov, Rustam, et al. "Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping." IEEE Robotics and Automation Letters 6.4 (2021): 6797-6804.
BibTeX: Download