Honors College Thesis

 

Utilization of Robot Ankle Torque to Account for Foot Placement Error Public Deposited

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https://ir.library.oregonstate.edu/concern/honors_college_theses/2j62sb15q

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  • Modern walking robots have shown that dynamic gaits can be achieved without ankle motors. It seems logical that the additional control authority that they provide can be used to improve the stability of the walking gait against foot placement errors caused by low level control. This thesis develops and compares different ankle control policies to improve system stability against these small errors. Shifting the center of pressure of the foot to the originally chosen touchdown location provided great increases in system stability without significant torque losses being observed. When the touchdown angle was allowed to be changed by the optimizer further increases in stability were observed at the cost of greater torque losses. Ankle control improved system stability without changes to footstep planning. Further changes to the footstep planning further increased the system stability.
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