Title
ScarlETH: Design and control of a planar running robot
Abstract
This paper introduces the mechanical design and the control concept of the Series Compliant Articulated Robotic Leg ScarlETH which was developed at ETH Zurich for fast, efficient, and versatile locomotion. Inspired by biological systems, we seek to achieve this through large compliances in the joints which enable natural dynamics, allow temporary energy storage, and improve the passive adaptability. A sophisticated chain and cable pulley design minimizes the segment masses, places the overall CoG close to the hip joint, and maximizes the range of motion. Nonlinearities in the damping and an appropriate low-level controller allow for precise torque control during stance and for fast task space position control during swing. This paved the road for the combined application of a virtual model controller for ground contact and a modified Raibert style controller for flight phase which was successfully tested in planar running.
Year
DOI
Venue
2011
10.1109/IROS.2011.6094504
Intelligent Robots and Systems
Keywords
Field
DocType
damping,design engineering,legged locomotion,position control,pulleys,torque control,CoG close,ETH Zurich,Raibert style controller,ScarLET,biological system,cable pulley design,flight phase,low-level controller,mechanical design,planar running robot,precise torque control,series compliant articulated robotic leg ScarlETH,task space position control,temporary energy storage,virtual model controller
Adaptability,Robot control,Control theory,Torque,Control theory,Computer science,Control engineering,Planar,Robot,Pulley,Swing
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-61284-454-1
11
PageRank 
References 
Authors
0.79
14
4
Name
Order
Citations
PageRank
Marco Hutter146058.00
C. David Remy2322.22
Mark A. Höpflinger3110.79
Roland Siegwart47640551.49