Identifying ground-robot impedance to improve terrain adaptability in running robots

Arévalo Martín, Juan Carlos and Sanz Merodio, Daniel and Cestari Soto, Manuel and García Armada, Elena (2014). Identifying ground-robot impedance to improve terrain adaptability in running robots. "International journal of advanced robotic systems", v. 12 (n. 1); pp. 1-12. ISSN 1729-8806. https://doi.org/10.5772/59888.

Description

Title: Identifying ground-robot impedance to improve terrain adaptability in running robots
Author/s:
  • Arévalo Martín, Juan Carlos
  • Sanz Merodio, Daniel
  • Cestari Soto, Manuel
  • García Armada, Elena
Item Type: Article
Título de Revista/Publicación: International journal of advanced robotic systems
Date: 14 October 2014
Volume: 12
Subjects:
Freetext Keywords: running robot, adaptability, ground-robot impedance
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

To date, running robots are still outperformed by animals, but their dynamic behaviour can be described by the same model. This coincidence means that biomechanical studies can reveal much about the adaptability and energy efficiency of walking mechanisms. In particular, animals adjust their leg stiffness to negotiate terrains with different stiffnesses to keep the total leg-ground stiffness constant. In this work, we aim to provide one method to identify ground-robot impedance so that control can be applied to emulate the aforementioned animal behaviour. Experimental results of the method are presented, showing well-differentiated estimations on four different types of terrain. Additionally, an analysis of the convergence time is presented and compared with the contact time of humans while running, indicating that the method is suitable for use at high speeds.

Funding Projects

TypeCodeAcronymLeaderTitle
Madrid Regional GovernmentDPI2013-40504-RUnspecifiedCSICExoesqueletos como instrumento de mejora de la calidad de vida de niños con atrofia muscular espinal y parálisis cerebral

More information

Item ID: 43897
DC Identifier: http://oa.upm.es/43897/
OAI Identifier: oai:oa.upm.es:43897
DOI: 10.5772/59888
Official URL: http://journals.sagepub.com/doi/full/10.5772/59888
Deposited by: Memoria Investigacion
Deposited on: 04 Apr 2017 15:12
Last Modified: 04 Apr 2017 15:12
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