Control Systems for Locomotion: Generating Algorithms for Hopping, Running, and Flipping, Study notes of Fundamentals of Design

Download Control Systems for Locomotion: Generating Algorithms for Hopping, Running, and Flipping and more Study notes Fundamentals of Design in PDF only on Docsity! model numerical integrator user control state desired behavior forces and torques graphics Control Systems for Locomotion Where do control laws come from? observation biomechanical literature optimization physical intuition add figures Control System flight loadingunloading thrust compression state machine to structure control actions Control of Hopping Velocity x S17177 Body attitude r Hopping height tT: Velocity xfh = 1/2 ts xd − kxd (xdd − xd) θ = f(xfh) xfh θ Control of Bipedal Running flight flight thrust compression thrustcompression leg 1 active leg 2 active What to do with the idle leg? flight thrust compression mirror active leg held short, swung forward held short, swung forward How is walking different from running? Energy transfer patterns Double support in walking vs. flight phase in running Gait Transitions between running and flipping Gymnastic Flips Quadruped Locomotion Bound Trot Pace Pronk Gallop 17 rigid bodies 30 controlled dof mass and moments of inertia calculated from polygonal model Dynamic Human Model Waist−3D Shoulder−3D Elbow−1D Y Y Wrist−2D X Waist−3D Ankle−1D Y Y Hip−3D Y X Z Neck−3D Y X Z Knee−1D Y Shoulder−3D X X Z Toe−1D Y Z Zbody segment densities from biomechanical data external forces and torques enforce contact constraints Dynamic Human Model Ground Reaction Yaw Roll State Machine for Running Hierarchy of Control Laws heel contacttoe contact flight heel and toe contact loadingunloading Flight Duration θ = θ + ∆θ + k(t − t ) d td nom fd f . . . x = 1/2 (t x − l) + k (x − x ) + ∆gsm hh s d . . . y = 1/2 (t y − l) + k (y − y ) hh s d Forward Velocity Ground Speed Matching