Gait design and gain-scheduled balance controller of an under-actuated robotic platform

Jacob Webb; Alexander Leonessa; Dennis Hong

IROS 2015poster3 citations

Gait design and gain-scheduled balance controller of an under-actuated robotic platform

Jacob Webb, Alexander Leonessa, Dennis Hong

Abstract

This work presents a method for deriving a gain scheduled balance controller to stabilize the gate of a three legged under-actuated robotic platform called THALeR (Tri-Pedal Hyper Altitudinal Legged Robot). The scheduler adapts the controller gains in real time based upon the system's instantaneous potential energy in order to create a smooth, stable gait. The final controller is simulated with white noise and impulse perturbations to show robustness.

BibTeX

@inproceedings{iros2015_gaitdesignandgai,
  title = {Gait design and gain-scheduled balance controller of an under-actuated robotic platform},
  author = {Jacob Webb and Alexander Leonessa and Dennis Hong},
  booktitle = {IROS 2015},
  year = {2015}
}