The DOI matches its Crossref record; 35 of the 35 references it cites were found in a registry or an index.
High-speed bounding with the MIT Cheetah 2: Control design and experiments
Open accessAbstract
This paper presents the design and implementation of a bounding controller for the MIT Cheetah 2 and its experimental results. The paper introduces the architecture of the controller along with the functional roles of its subcomponents. The application of impulse scaling provides feedforward force profiles that automatically adapt across a wide range of speeds. A discrete gait pattern stabilizer maintains the footfall sequence and timing. Continuous feedback is layered to manage balance during the stance phase. Stable hybrid limit cycles are exhibited in simulation using simplified models, and are further validated in untethered three-dimensional bounding experiments. Experiments are conducted both indoors and outdoors on various man-made and natural terrains. The control framework is shown to provide stable bounding in the hardware, at speeds of up to 6.4 m/s and with a minimum total cost of transport of 0.47. These results are unprecedented accomplishments in terms of efficiency and speed in untethered experimental quadruped machines.
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Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
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Practical Numerical Algorithms for Chaotic Systems
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Templates and anchors: neuromechanical hypotheses of legged locomotion on land
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Robotics: Science and Systems (RSS)
Trinkle, J., & Matsuoka, Y. (2010) · AI Magazine · doi:10.1609/aimag.v31i1.2237 · Cited by 1,081
Design of HyQ – a hydraulically and electrically actuated quadruped robot
Semini, C., Tsagarakis, N. G., Guglielmino, E., Focchi, M., Cannella, F., & Caldwell, D. G. (2011) · Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering · doi:10.1177/0959651811402275 · Cited by 630
Similarity in multilegged locomotion: Bouncing like a monopode
Blickhan, R., & Full, R. J. (1993) · Journal of Comparative Physiology A · doi:10.1007/bf00197760 · Cited by 557
Design Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot
Seok, S., Wang, A., Chuah, M. Y., Hyun, D. J., Lee, J., Otten, D. M., Lang, J. H., & Kim, S. (2015) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2014.2339013 · Cited by 517
Self-citationTrajectory sensitivity analysis of hybrid systems
Hiskens, I. A., & Pai, M. A. (2000) · IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications · doi:10.1109/81.828574 · Cited by 501
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Metadata
- Authors
- Park, H.-W., Wensing, P. M., & Kim, S.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2017-02
- Volume
- 36
- Issue
- 2
- Pages
- 167-192
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2593412525
- Cited by
- 267
- References
- 35
- FWCI
- 9.54
- Type
- journal article
- Language
- en
- Open access
- bronze
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