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Design and Comparative Analysis of 1D Hopping Robots

Ambrose, Eric and Csomay-Shanklin, Noel and Or, Yizhar and Ames, Aaron (2019) Design and Comparative Analysis of 1D Hopping Robots. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 5717-5724. ISBN 978-1-7281-4004-9. https://resolver.caltech.edu/CaltechAUTHORS:20200131-082906308

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Abstract

Hopping is a highly dynamic motion requiring precise input over brief moments of ground contact in order to achieve desired performance. While this problem has been approached from multiple perspectives, this work provides a comparative analysis of two robot models. The first model uses an actuator to store energy in a spring and release it during the ground phase, while the second uses an actuator to move an additional mass vertically to generate force on the spring. In the first model, analytic expressions are used to find the desired controllers, while trajectory optimization is used in the latter. Orbital stability of each model under the conditions of uncertain damping and poor estimation of the hop height is examined. To this end, Poincaré analysis is used to give a metric of stability in the presence of different initial conditions and parameter uncertainty. Simulations show that the first model converges quickly to a point near the desired height determined by the amount of uncertain damping present. The second model is less robust to uncertainty, but is be made to converge to a desired height with the addition of PD control around the optimal trajectory. This robustness is improved with different gains in the controller. In experiments performed on hardware for the second model, stability is observed through convergence to a periodic orbit within several hops.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS40897.2019.8967692DOIArticle
ORCID:
AuthorORCID
Or, Yizhar0000-0002-9091-9357
Ames, Aaron0000-0003-0848-3177
Additional Information:© 2019 IEEE. This work was supported by Disney Research and Development.
Funders:
Funding AgencyGrant Number
Disney Research and DevelopmentUNSPECIFIED
Record Number:CaltechAUTHORS:20200131-082906308
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200131-082906308
Official Citation:E. Ambrose, N. Csomay-Shanklin, Y. Or and A. Ames, "Design and Comparative Analysis of 1D Hopping Robots," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 5717-5724. doi: 10.1109/IROS40897.2019.8967692
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:101027
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:31 Jan 2020 17:52
Last Modified:31 Jan 2020 17:52

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