Can an Underactuated Leg with a Passive Spring at the Knee Achieve a Ballistic Step? - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Reports Year : 1998

Can an Underactuated Leg with a Passive Spring at the Knee Achieve a Ballistic Step?

Bernard Espiau
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  • PersonId : 830140
Isabelle Guigues
  • Function : Author
Roger Pissard-Gibollet
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Abstract

In this paper, we present the design and the results of a control scheme aimed at moving an underactuated double pendulum simulating a leg. The system is actuated at the hip and includes a spring at the knee. It interacts with the grou nd, which is in fact a treadmill, through a telescopic foot made of a linear spring and a damper. The control scheme is different in the 2 phases, swing and stance, and a repetitive step is achieved by switching between these two controls. The paper describes the used models, the control algorithms and their implementation. It presents also experimental results of the approach.

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Other [cs.OH]
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Dates and versions

inria-00073140 , version 1 (24-05-2006)

Identifiers

  • HAL Id : inria-00073140 , version 1

Cite

Bernard Espiau, Isabelle Guigues, Roger Pissard-Gibollet. Can an Underactuated Leg with a Passive Spring at the Knee Achieve a Ballistic Step?. RR-3544, INRIA. 1998. ⟨inria-00073140⟩
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