Gorkem Secer: TSLIP-based Deadbeat Running Control of Bipedal Robot ATRIAS

[00:00:00]deadbeat control of running with the Atrius pipette based on speak mass model with trunk and tunable like damping spring hold inverted pendulum is a simple model of running which hosts human-like ground reaction force profiles and center of mass trajectories it is controlled by setting touchdown angle once first step which admits single step that beats solutions for control of range recent studies have shown that swing mass theory and that beat control has limited practical utility when transferred to a compliant robots such as Atreus which is designed specifically to mimic spring mast behavior the trunk stabilization and compensation of energy within the robot are claimed to be primary reasons of models deviation from hardware here we extend basic spring mass model by replacing point mass with a trunk and adding a temper to enable control of locomotion energy our preliminary experiments show that that beat control based on that extended model improves control accuracy on Hardware compared to basic spring mass model