University of Twente Student Theses


Momentum-based control for compliant link quadrupeds

Oosterveld, S.W.S. (2023) Momentum-based control for compliant link quadrupeds.

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Abstract:This thesis examines the implications of incorporating compliant links in two critical areas of legged robot control: state estimation and momentum-based control. To this end, we consider a planar quadruped with a compliant spine. In the first part, we investigate the influence of the compliant spine on state estimation, an essential component of a model-based controller. We find that the unmodelled compliant spine degrades the state estimation. Fortunately, the state estimator can be improved by including the compliant link without the need for additional sensors. We demonstrate that the state estimator is more accurate in estimating the flexible coordinate and the center of mass position when it considers two or more flexible modes. In the second part, we combine this state estimator with a momentum-based control. This controller is designed to prevent the robot from falling when it lifts the legs to move around. We show that neglecting the compliant spine has a detrimental effect on the controller, eventually causing the robot to fall. This behaviour can be avoided when the momentum-based controller considers one flexible mode. However, the controller is not robust when more flexible modes are added or when large parameter variations are induced.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Mechanical Engineering MSc (60439)
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