Skip to main content
SpringerLink
Log in

Can an underactuated leg with a passive spring at the knee achieve a ballistic step?

  • Chapter 6 Locomotion
  • Conference paper
  • First Online:
Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

In this paper, we present 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 ground, 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 system, the used models and the control algorithms. It presents also experimental results of the approach.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. R. McN. Alexander 1990 Three Uses for Springs in Legged Locomotion, The Int. J. of Robotics Research, 9(2), pp 53–61

    Google Scholar 

  2. G.T. Yamaguchi, A. Takanishi 1997 Development of a Biped Walking Robot Having Antagonistic Driven Joints Using Nonlinear Spring Mechanisms, Proc. IEEE Int. Conf. on Robotics and Automation, Albuquerque, pp 185–192

    Google Scholar 

  3. R.Q. van der Linde 1998 Active Leg Compliance for Passive Walking, Proc. IEEE Int. Conf. on Robotics and Automation, Leuwen

    Google Scholar 

  4. M. Bergerman, C. Lee, Y. Xu 1995 Experimental Study of an Underactuated Manipulator, Proc. TEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Pittsburgh, pp 317–322

    Google Scholar 

  5. S. Mochon, T.A. McMahon 1980 Ballistic Walking: An Improved Model, Mathematical Biosciences 52:241–260

    Article  MATH  MathSciNet  Google Scholar 

  6. M. C. Laiou, A. Astolfi 1998 Underactuated Nonlinear Systems with Nonstabilizable Linear Approximation: A Case Study, IFAC Int. Workshop on Motion Control, Grenoble, pp 23–238

    Google Scholar 

  7. A. De Luca, R. Mattone, G. Oriolo 1996 Control of Underactuated Mechanical Systems: Application to the planar 2R Robot, Conf. on Decision and Control, Kobe, pp 1455–1460

    Google Scholar 

  8. M. Reyhanoglu, A. van der Shaft, N.H. McClamroch, I. Kolmanovsky: Nonlinear Control of a class of Underactuated Systems, Conf. on Decision and Control, Kobe, pp 1682–1687

    Google Scholar 

  9. G. Oriolo, Y. Nakamura 1991 Control of Mechanical Systems with Second-order Nonholonomic Constraints: Underactuated Manipulators, Conf. on Decision and Control, Brighton, pp 2398–2403

    Google Scholar 

  10. G.A. Pratt, M.M. Williamson 1995 Series Elastic Actuators, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Pittsburgh, pp 399–406

    Google Scholar 

  11. Pratt, J., Dilworth, P., Pratt, G. 1997 Virtual Model Control of a Bipedal Walking Robot, Proc. IEEE Int. Conf. on Robotics and Automation, Albuquerque

    Google Scholar 

  12. 1994 Swing Up Control of the Acrobot Using Partial Feedback Linearization, IFAC Symposium on Robot Control, Capri, pp 833–838

    Google Scholar 

  13. M.D. Berkemeier, R.S. Fearing 1998 Sliding and Hopping Gaits for the Underactuated Acrobot, IEEE Trans. on Robotics and Automation, 14–4:629–634

    Article  Google Scholar 

  14. F. Saito, T. Fukuda, F. Arai 1994 Swing and Locomotion Control for a Two-link Brachiation Robot, IEEE Control Syst. Magazine, 14:5–12

    Article  Google Scholar 

  15. A. Goswami, B. Espiau, A. Keramane 1997 Limit Cycles in a Passive Bipedal Gait and Passivity-mimicking Control Laws, J. of Autonomous Robots, 4:273–286, 1997

    Article  Google Scholar 

  16. B. Espiau, R. Boulic 1998 On the Computation and Control of the Mass Center of Articulated Chains, INRIA Research Report no 3479 (http://www.inria.fr/RRRT/publications-eng.html)

    Google Scholar 

  17. F. Génot, B. Espiau 1998 On the Control of the Mass Center of Legged Robots Under Unilateral Constraints, CLAWAR Symposium, Bruxelles

    Google Scholar 

  18. B. Espiau, I. Guigues, R. Pissard-Gibollet 1998 Can an Underactuated Leg with a Passive Spring at the Knee Achieve a Ballistic Step? INRIA Research Report no 3544 (http://www.inria.fr/RRRT/publications-eng.html)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. INRIA, ZIRST, 655 Avenue de l’Europe, 38330, Montbonnot, France

    Bernard Espiau, Isabelle Guigues & Roger Pissard-Gibollet

Authors
  1. Bernard Espiau
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Isabelle Guigues
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Roger Pissard-Gibollet
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Bernard Espiau .

Rights and permissions

Reprints and permissions

Copyright information

© 2000 Springer-Verlag London Limited

About this paper

Cite this paper

Espiau, B., Guigues, I., Pissard-Gibollet, R. (2000). Can an underactuated leg with a passive spring at the knee achieve a ballistic step?. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119403

Download citation

  • DOI: https://doi.org/10.1007/BFb0119403

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation