Optimal Landing Strategy for Two-Mass Hopping Leg With Natural Dynamics | IEEE Journals & Magazine | IEEE Xplore

Optimal Landing Strategy for Two-Mass Hopping Leg With Natural Dynamics


Abstract:

It is necessary for a robotic leg to behave like a spring to realize a periodic hopping, since it can be efficient and does not require complicated control algorithm. How...Show More

Abstract:

It is necessary for a robotic leg to behave like a spring to realize a periodic hopping, since it can be efficient and does not require complicated control algorithm. However, the impact force makes the realization of periodic hopping more challenging. In this letter, an optimal landing strategy for a hopping leg is proposed, which can realize continuous hopping motion only by natural dynamics. The proposed strategy can reduce the foot landing velocity to zero and thus minimize the impact force. The formulation to derive the optimal condition is derived theoretically based on two-mass leg model, and its effectiveness is verified through various simulations and experiments using a series elastic actuator-driven robot leg.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 2, April 2020)
Page(s): 3707 - 3714
Date of Publication: 09 March 2020

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