Research output: Chapter in Book/Report/Conference proceeding › Conference paper

**Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration.** / Pereno, Valerio; Shoar, Kya; Bartoli, Giulia; Bianchi, Fabio; Nanayakkara, Thrishantha.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

Pereno, V, Shoar, K, Bartoli, G, Bianchi, F & Nanayakkara, T 2013, Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration. in *2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).*, 6696800, IEEE, pp. 3126-3131, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 3-8 November. DOI: 10.1109/IROS.2013.6696800

Pereno, V., Shoar, K., Bartoli, G., Bianchi, F., & Nanayakkara, T. (2013). Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration. In *2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).* (pp. 3126-3131). [6696800] IEEE. DOI: 10.1109/IROS.2013.6696800

Pereno V, Shoar K, Bartoli G, Bianchi F, Nanayakkara T. Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. 2013. p. 3126-3131. 6696800. Available from, DOI: 10.1109/IROS.2013.6696800

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title = "Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration",

keywords = "metastable walking, internal impedance control",

author = "Valerio Pereno and Kya Shoar and Giulia Bartoli and Fabio Bianchi and Thrishantha Nanayakkara",

year = "2013",

month = "11",

doi = "10.1109/IROS.2013.6696800",

isbn = "9781467363587",

pages = "3126--3131",

booktitle = "2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

publisher = "IEEE",

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TY - CHAP

T1 - Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration

AU - Pereno,Valerio

AU - Shoar,Kya

AU - Bartoli,Giulia

AU - Bianchi,Fabio

AU - Nanayakkara,Thrishantha

PY - 2013/11/4

Y1 - 2013/11/4

N2 - This paper investigates how a walker could estimate the variability of an arbitrary set of state variables when migrating on visco-elastic grounds. The state variables are a function of both the visco-elastic settings of the walking body and soft terrain parameters. A rimless wheel model was developed using a Lagrangian approach in order to obtain analytical solutions for migration across ground conditions. An algorithm was then developed to determine the steady value of the variables as a function of the difference in ground and hub parameters involved in the migration. A generalised migration metaparameter, DELTAg, function of this difference, was then extrapolated using polynomial approximation. DELTAg can be used to estimate the expected variability at a state given information on actual and previous ground parameters. A second parameter, DELTAh, describing local variability of a given state on a given terrain, is used to generate a predictive algorithm capable of stabilising the rimless wheel setup when subject to an abrupt change in ground parameters. We actuate the rimless wheel with a constant torque leaving it to develop any speed profile for a given visco-elastic impedance distribution of the ground and its own vertical visco-elastic impedance. The ground is altered depending on the two migration meta-parameters (g and r), ensuring both local and migration stability.

AB - This paper investigates how a walker could estimate the variability of an arbitrary set of state variables when migrating on visco-elastic grounds. The state variables are a function of both the visco-elastic settings of the walking body and soft terrain parameters. A rimless wheel model was developed using a Lagrangian approach in order to obtain analytical solutions for migration across ground conditions. An algorithm was then developed to determine the steady value of the variables as a function of the difference in ground and hub parameters involved in the migration. A generalised migration metaparameter, DELTAg, function of this difference, was then extrapolated using polynomial approximation. DELTAg can be used to estimate the expected variability at a state given information on actual and previous ground parameters. A second parameter, DELTAh, describing local variability of a given state on a given terrain, is used to generate a predictive algorithm capable of stabilising the rimless wheel setup when subject to an abrupt change in ground parameters. We actuate the rimless wheel with a constant torque leaving it to develop any speed profile for a given visco-elastic impedance distribution of the ground and its own vertical visco-elastic impedance. The ground is altered depending on the two migration meta-parameters (g and r), ensuring both local and migration stability.

KW - metastable walking

KW - internal impedance control

UR - http://www.scopus.com/inward/record.url?scp=84893801376&partnerID=8YFLogxK

U2 - 10.1109/IROS.2013.6696800

DO - 10.1109/IROS.2013.6696800

M3 - Conference paper

SN - 9781467363587

SP - 3126

EP - 3131

BT - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE

ER -

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