Authors

Gerrit A. Folkertsma, Arjan J. van der Schaft, Stefano Stramigioli

Abstract

In high-speed locomotion, control is best shared between rain” and ody”: if the natural body dynamics already exhibit desired behaviour, control action can be restricted to stabilising this behaviour, or providing energy to keep it going. This morphological computation can be modelled and designed using Port-Hamiltonian systems (PHS) theory, since the basis of both is the interconnection of dynamic elements. In this paper, we explore the application of PHS to morphological computation, showing that a three degrees-of-freedom elastic spring functioning as spine in a quadrupedal robot can lead to forward locomotion|without any complicated control action whatsoever.

Keywords

Robot dynamics; Control by interconnection; Locomotion; Numerical simulation; Port-Hamiltonian Systems

Citation

  • Journal: IFAC-PapersOnLine
  • Year: 2015
  • Volume: 48
  • Issue: 13
  • Pages: 170–175
  • Publisher: Elsevier BV
  • DOI: 10.1016/j.ifacol.2015.10.234
  • Note: 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015- Lyon, France, 4–7 July 2015

BibTeX

@article{Folkertsma_2015,
  title={{Morphological computation in a fast-running quadruped with elastic spine}},
  volume={48},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2015.10.234},
  number={13},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Folkertsma, Gerrit A. and van der Schaft, Arjan J. and Stramigioli, Stefano},
  year={2015},
  pages={170--175}
}

Download the bib file

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