Honors College Thesis

 

Comparing Delay and Reflected Inertia for an Actuated Spring Loaded Inverted Pendulum Model Public Deposited

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  • Legged robots, while advancing quickly, have far to go before they can recover from major disturbances safely and consistently. Reflected inertia, which affects how quickly the actuators can physically respond to an environmental disturbance, and delay, which describes the time necessary for the controller to sense, re-plan, and respond to the disturbance, both make recovery harder as they increase. It is possible that their effect on disturbance response is comparable. This thesis will investigate the effects of reflected inertia and delay on disturbance response, using trajectory optimization on an Actuated Spring Loaded Inverted Pendulum model in order to compare these effects on the energy needed to recover from a disturbance. While the results proved to be inconclusive, the mistakes of the methodology are explained and a better methodology is suggested, so that the process can be learned from and the idea can be investigated in a better way.
  • Key Words: SLIP, disturbance, legged, running
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