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Virtual Energy Management for Physical Energy Savings in a Legged Robot Hopping on Granular Media
We discuss an active damping controller to reduce the energetic cost of a single step or jump of dynamic locomotion without changing the morphology of the robot. The active damping controller adds virtual damping to a virtual leg spring created by direct-drive motors through the robot’s leg linkage....
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2021
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8724561/ https://www.ncbi.nlm.nih.gov/pubmed/34993236 http://dx.doi.org/10.3389/frobt.2021.740927 |