Modal Matching: An Approach to Natural Compliant Jumping Control
Dominic Lakatos, Alin Albu-Schäffer
Abstract
This letter derives the basic concept of modal matching-an approach to natural motion control. Modal matching exploits the nonlinearity of the rigid multi-body dynamics (and the variability of the elastic transmissions) as degree of freedom to fit the natural plant dynamics to the desired dynamics of the task. Modal matching achieves a desired intrinsic oscillation behavior, which is locally equivalent to the dynamics of the basic spring-loaded inverted pendulum or pogo-stick model (both implementing a linear inertia acting on a linear spring), well established in locomotion analysis and control. Using the concept of modal matching, an efficient and effective methodology to natural jumping control is introduced.
BibTeX
@inproceedings{ral2016_modalmatchingana,
title = {Modal Matching: An Approach to Natural Compliant Jumping Control},
author = {Dominic Lakatos and Alin Albu-Schäffer},
booktitle = {RA-L 2016},
year = {2016}
}