Blank09a  |
| BibTeX Type: | inproceedings |
| Category: | _undefined_ |
| Author*: | S. Blank and T. Wahl and T. Luksch and K. Berns |
| Title*: | Biologically Inspired Compliant Control of a Monopod Designed for Highly Dynamic Applications |
| Booktitle*: | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Year*: | 2009 |
| Pages: | pp. 148-153 |
| Address: | St. Louis (MO), USA |
| Month: | October |
| Abstract: | In this paper the compliant low level control of
a biologically inspired control architecture suited for bipedal dynamic walking robots is presented. It consists of elastic mechanics, a low-level compliant joint controller and a hierarchical
reflex-based control layer. The former is implemented on a DSP
while the reflex network is located on a desktop PC. Thus, one
is able to utilize distribution as a powerful means to guarantee low latency and scalability.
The concept is tested on a prototype leg mounted on a
vertical slider that is designed to perform cyclic squat jumps.
Thus, a suited mechatronic setup that features highly dynamic
actuators as well as energy storage capabilities is derived.
Cyclical jumping is employed as a benchmark for the system’s
performance. Experimental results of the prototype setup as
well as simulation runs are presented and compared to human
squat jumping. |
| * marks obligatory BibTeX fields |
BibTeX Entry:
@inproceedings{Blank09a,
author = {S. Blank and T. Wahl and T. Luksch and K. Berns},
title = {Biologically Inspired Compliant Control of a Monopod Designed for Highly Dynamic Applications},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2009},
pages = {pp. 148-153},
address = {St. Louis (MO), USA},
month = {October},
}
|
|
