2019/09/26 by Gorkem Secer, Secer, Gorkem, Ali Levent Cinar +1
Engineering · Medicine · #Diabetic Foot Ulcer Assessment and Management #FOS: Computer and information sciences #FOS: Electrical engineering #Lower Extremity Biomechanics and Pathologies #Robotic Locomotion and Control #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1909.12444
openalex publication_date 2019/09/26 · openalex created_date 2022/07/28 · openalex updated_date 2026/07/28
A long-standing argument in model-based control of locomotion is about the\nlevel of complexity that a model should have to define a behavior such as\nrunning. Even though goldilocks model based on biomechanical evidence is often\nsought, it is unclear what complexity level qualifies to be such a model. This\ndilemma deepens further for bipedal robotic running with point feet, since\nthese robots are underactuated, while tracking center-of-mass (COM)\ntrajectories defined by the spring-loaded inverted pendulum (SLIP) model of\nrunning allocates all control inputs, leaving angular coordinates of the\nrobot's trunk uncontrolled. Existing work in the literature approach this\nproblem either by trading off COM trajectories against upright trunk posture\nduring stance or by adopting more detailed models that include effects of trunk\nangular dynamics. In this paper, we present a new approach based on modifying\nfoot placement targets of the SLIP model. Theoretical analysis and numerical\nresults show that the proposed approach outperforms these traditional\nstrategies.\n