Devin Koepl | Oregon State University (original) (raw)

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Papers by Devin Koepl

We demonstrate in simulation that active force control applied to a passive spring-mass model for... more We demonstrate in simulation that active force control applied to a passive spring-mass model for walking and running attenuates disturbances, while maintaining the energy economy of a completely passive system during steadystate operation. It is well known that spring-mass models approximate steady-state animal running, but these passive dynamic models are sensitive to disturbances that animals are able to accommodate. Active control can be used to add robustness to spring-mass walking and running, and most existing controllers add a fixed amount of energy to the system based on information from previous strides. Because spring-mass models are schematically similar to force control actuators, it is convenient to combine the two concepts in a single system. We show, in simulation, that the resulting system can attenuate sudden disturbances during a single stance phase by matching its toe force profile to that of the undisturbed spring-mass model.

Abstract—For robotic manipulation tasks in uncertain envi-ronments, good force control can provid... more Abstract—For robotic manipulation tasks in uncertain envi-ronments, good force control can provide significant benefits. The design of force or torque controlled actuators typically revolves around developing the best possible software control strategy. However, the passive ...

We demonstrate in simulation that active force control applied to a passive spring-mass model for... more We demonstrate in simulation that active force control applied to a passive spring-mass model for walking and running attenuates disturbances, while maintaining the energy economy of a completely passive system during steadystate operation. It is well known that spring-mass models approximate steady-state animal running, but these passive dynamic models are sensitive to disturbances that animals are able to accommodate. Active control can be used to add robustness to spring-mass walking and running, and most existing controllers add a fixed amount of energy to the system based on information from previous strides. Because spring-mass models are schematically similar to force control actuators, it is convenient to combine the two concepts in a single system. We show, in simulation, that the resulting system can attenuate sudden disturbances during a single stance phase by matching its toe force profile to that of the undisturbed spring-mass model.

Abstract—For robotic manipulation tasks in uncertain envi-ronments, good force control can provid... more Abstract—For robotic manipulation tasks in uncertain envi-ronments, good force control can provide significant benefits. The design of force or torque controlled actuators typically revolves around developing the best possible software control strategy. However, the passive ...

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