Speed-adaptive control scheme for legged running robots
First Claim
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1. A method for providing rotational leg control during a swing phase of a robotic locomotion device, the method comprising:
- computing an apex height return map of two consecutive flight phases for different angles of attack;
selecting all pairs of leg angle and apex heights that result in a desired apex height of a next consecutive flight phase;
for each leg angle-apex height pair, computing the corresponding flight times from apex to touch-down; and
storing dependencies between flight time after apex and leg angle for any desired consecutive apex heights.
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Abstract
A control scheme for legged running machines which is based on a decoupled control of system energy and kinematic trajectory is described.
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Citations
30 Claims
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1. A method for providing rotational leg control during a swing phase of a robotic locomotion device, the method comprising:
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computing an apex height return map of two consecutive flight phases for different angles of attack; selecting all pairs of leg angle and apex heights that result in a desired apex height of a next consecutive flight phase; for each leg angle-apex height pair, computing the corresponding flight times from apex to touch-down; and storing dependencies between flight time after apex and leg angle for any desired consecutive apex heights. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of moving a leg of a robotic system, the method comprising:
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determining a time to apex; selecting an angle of attack based upon time after apex; and providing rotational leg control continuously during the time after apex until touch-down occurs such that the leg is at a desired angle of attack when touch-down occurs. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A robot comprising:
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a body; a leg coupled to the body; a sensor, coupled to the leg, to provide a control signal indicating detection of a contact phase of the leg; a sensor, coupled to the body and the leg, to provide a control signal indicating the leg orientation; a sensor, coupled to the leg, to provide a control signal indicating the leg length; a controller, coupled to the body and responsive to the control signals, to determine for a next contact phase an angle of attack to reach a desired apex height in a flight phase following the next contact phase; and an actuator, coupled to the controller and the leg, to adjust orientation of the leg during a flight phase occurring between the contact phase and the next contact phase to achieve the angle of attack. - View Dependent Claims (23, 24, 25, 26)
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27. A method for providing rotational leg control during a swing phase of a robotic locomotion device, the method comprising:
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identifying kinematic control elements of the leg; identifying energetic control elements of the leg to control system energy within the robotic locomotion device; and separating the kinematic control elements of the leg from the energetic control elements of the leg. - View Dependent Claims (30)
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28. A method for providing rotational leg control during a swing phase of a robotic locomotion device, the method comprising:
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identifying kinematic control elements of the leg; identifying energetic control elements of the leg; separating the kinematic control elements of the leg from the energetic control elements of the leg; determining an energetic control level of the leg to control system energy within the robotic locomotion device; and determining a kinematic control level of the leg to provide a desired energetically possible movement trajectory within one step. - View Dependent Claims (29)
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Specification