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سی و چهارمین کنفرانس بین المللی مهندسی برق
An Energy Compensation Approach to Variable Stiffness Single Leg Jumping
نویسندگان :
Mohammadreza Gilak
1
Mehdi Zarei
2
Mohammad Hossein Basiri
3
Saman Samiei
4
Mohammad Mehdi Jalalmaab
5
Behzad Ahi
6
1- دانشگاه صنعتی شریف
2- دانشگاه صنعتی شریف
3- Fasta Robotics Inc
4- دانشگاه صنعتی شریف
5- Fasta Robotics Inc
6- دانشگاه صنعتی شریف
کلمات کلیدی :
Quadrupedal robots،single-leg locomotion،spring-loaded inverted pendulum،Bézier curves
چکیده :
In this study, we propose a control framework that facilitates stable and dynamic locomotion of a quadruped robot's single leg under frictional conditions. The approach employs a bio-inspired spring-loaded inverted pendulum template to capture the fundamental characteristics of animal-like jumping gaits. During the flight phase, smooth transitions are achieved through the generation of foot-end trajectories and leg orientation control, both parameterized using Bézier curves. In the stance phase, a variable-stiffness spring model is incorporated to compensate for energy dissipation caused by friction. Comprehensive simulation results validate the effectiveness of the proposed controller in preserving jumping performance by mitigating energy losses. Furthermore, the findings indicate that iterative adaptation of spring stiffness significantly reduces the adverse effects of friction.
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