ArticleFrontiers in bioengineering and biotechnology2020
Virtual Point Control for Step-Down Perturbations and Downhill Slopes in Bipedal Running.
Article in Frontiers in bioengineering and biotechnology, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed.
- Positioning of pivot points in quadrupedal locomotion: limbs global dynamics in four different dog breeds.Frontiers in bioengineering and biotechnology · 2023Article
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2 authors.
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Abstract
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes perturbations. One bio-inspired method to achieve postural stability is the virtual point (VP) control, which is able to generate natural motion. However, so far it has only been studied for level running. In this work, we investigate whether the VP control method can accommodate single step-down perturbations and downhill terrains. We provide guidelines on the model and controller parameterizations for handling varying terrain conditions. Next, we show that the VP method is able to stabilize single step-down perturbations up to 40 cm, and downhill grades up to 20-40° corresponding to running speeds of 2-5 ms
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