https://scaron.info/blog/balancing-is-a-low-frequency-task.html/2024-05-26T12:53:00+02:002024-05-26T12:53:00+02:002024-05-26T12:53:00+02:00Stéphanetag:scaron.info,2024-05-26:/blog/balancing-is-a-low-frequency-task.html//comment-reply-frequency-for-other-bipeds

<p>The analysis by Villa <em>et al.</em> gives us insights for general legged systems (not necessarily robots), in the general sense of &quot;insight&quot; 😉 But, like any analysis, it comes with a set of modeling assumptions.</p> <p>A big one is that the system can regulate its contact forces with the environment instantaneously …</p>

<p>The analysis by Villa <em>et al.</em> gives us insights for general legged systems (not necessarily robots), in the general sense of &quot;insight&quot; 😉 But, like any analysis, it comes with a set of modeling assumptions.</p> <p>A big one is that the system can regulate its contact forces with the environment instantaneously (that is, the dynamics of force control are fast compared to those of the overall <a class="reference external" href="https://scaron.info/robotics/linear-inverted-pendulum-model.html">inverted pendulum</a> dynamics), which is probably better suited to torque-controlled robots than to animals. But we could extend the analysis to replace this assumption with an explicit model of how fast the system regulates contact forces. Those are called <em>visco-elastic</em> contact models and they are being explored for instance in recent works by Benallegue <em>et al.</em> (<a class="reference external" href="https://hal.science/hal-03428689v3">2022</a>, <a class="reference external" href="https://hal.science/hal-04147602v3">2024</a>).</p> 2024-05-25T15:56:00+02:002024-05-25T15:56:00+02:00Roland Andrewstag:scaron.info,2024-05-25:/blog/balancing-is-a-low-frequency-task.html//comment-frequency-for-other-bipeds<p>Hi, super intresting thanks. Do you think that gives us some insight into the frequency required for, say, a biped walking? Or would the frequency then be determined by other factors?</p>