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An Empirical Investigation of Legged Transitional Maneuvers Leveraging Raibertís Scissor Algorithm

To Appear: IEEE International Conference on Robotics and Biomimetics, December, 2015.

Jeffrey Duperret and D. E. Koditschek
Electrical and Systems Engineering, University of Pennsylvania
Full PDF | Penn ScholarlyCommons


We empirically investigate the implications of applying Raibertís Scissor algorithm to the Spring Loaded Inverted Pendulum (SLIP) model in combination with other controllers to achieve transitional maneuvers. Specifically, we are interested in how the conjectured neutral stability of Raibertís algorithm allows combined controllers to push the systemís operating point around the state space without needing to expend limited control affordance in overcoming its stability or compensating for its instability. We demonstrate 2 cases where this facilitates the construction of interesting transitional controllers on a physical robot. In the first we use the motors in stance to maximize the rate of change of the body energy; in the second we take advantage of the local environmental energy landscape to push the robotís operating point to a higher or lower energy level without expending valuable motor affor- dance. We present data bearing on the energetic performance of these approaches in executing an accelerate-and-leap maneuver on a monopedal hopping robot affixed to a boom in comparison to the cost of anchoring the robot to the SLIP template.

This work is supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0822 and by the Army Research Laboratory under Cooperative Agreement Number W911NF-10–2−0016.
BibTeX entry
        author = {Duperret, Jeffrey and Koditschek, D. E.},
	title = {An Empirical Investigation of Legged Transitional Maneuvers Leveraging Raibertís Scissor Algorithm},
	booktitle = {IEEE International Conference on Robotics and Biomimetics},
        month = {December},
        year = {2015},
        location = {Zhuhai, China},

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